Method, device, electronic device and storage medium for determining stability of observation data

Abstract

The present application provides a method, device, electronic device and storage medium for determining the stability of observation data, the method comprising: obtaining the observation data and observation time respectively corresponding to the satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive the satellite signal data through the same antenna; calculating the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips; for each group of chips, calculating the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value; determining the stability of the observation data of each group of chips according to the variation range of the second value corresponding to each group of chips over time. By means of the present application, the stability of the observation data of the GNSS chip can be determined.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a method, device, electronic device and storage medium for determining the stability of observation data. Background Art

[0002] With the development of science and technology, GNSS (Global Navigation Satellite System) is also used in various fields.

[0003] At present, when using GNSS, most companies usually directly use chips provided by GNSS chip manufacturers, but they cannot be sure whether the GNSS chips provided by the selected manufacturers are stable. To determine whether a GNSS chip is stable, it is mainly necessary to determine the stability of the observation data of the GNSS chip. However, there is no method for determining the stability of the observation data of a GNSS chip in the prior art. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device and storage medium for determining the stability of observation data, by calculating the difference between the observation data of multiple chips at the same observation time, and the difference between the absolute value of the difference between the observation time of multiple chips at the current moment and the absolute value of the difference between the observation time at the previous moment, to determine the stability of the observation data of each group of chips.

[0005] In a first aspect, an embodiment of the present application provides a method for determining the stability of observation data, the method comprising:

[0006] Obtaining observation data and observation time respectively corresponding to satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive the satellite signal data through the same GNSS antenna;

[0007] Calculating the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips;

[0008] For each group of chips, calculate the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value;

[0009] The stability of the observation data of each group of chips is determined according to the temporal variation of the second value corresponding to each group of chips.

[0010] In a possible implementation manner, before calculating the absolute value of the difference of the observation data belonging to the same observation time in each group of chips, the method further includes:

[0011] Multiple groups of chips are obtained by combining every two chips among the multiple GNSS chips, and each chip can only be combined once; the number of GNSS chips is an even number.

[0012] In a possible implementation manner, the observation data includes a pseudorange and / or a carrier phase.

[0013] In a possible implementation manner, calculating the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain the first value includes:

[0014] If the observation data includes pseudorange and carrier phase, the absolute values ​​of the differences corresponding to the pseudorange and carrier phase at the same observation time in each group of chips are calculated;

[0015] The absolute value of the difference between the pseudoranges and the absolute value of the difference between the carrier phases is weightedly calculated to obtain a first value.

[0016] In a possible implementation, determining the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips includes:

[0017] The second values ​​corresponding to each group of chips are calculated by root mean square to obtain the stability of the observation data of each group of chips.

[0018] In a possible implementation, determining the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips includes:

[0019] If the observation data includes pseudorange and carrier phase, the stability corresponding to the pseudorange and the stability of the carrier phase are weightedly calculated to determine the stability of the observation data of each group of chips.

[0020] In a possible implementation, performing a root mean square calculation on the second values ​​corresponding to each group of chips to obtain the stability of the observation data of each group of chips includes:

[0021] The stability of the observation data of each group of chips calculated for all satellites is calculated by performing a root mean square calculation to obtain the stability of the observation data of each group of chips.

[0022] In a second aspect, an embodiment of the present application further provides a device for determining the stability of observation data, the device for determining the stability of observation data comprising:

[0023] An acquisition module, used to acquire observation data and observation time respectively corresponding to satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive satellite signal data through a same GNSS antenna;

[0024] A calculation module, used to calculate the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips;

[0025] The calculation module is further used to calculate, for each group of chips, an absolute value of a difference between a first value of the observation time at a current moment and a first value of the observation time at a previous moment, to obtain a second value;

[0026] The determination module is used to determine the stability of the observation data acquisition of each group of chips according to the temporal variation of the second value corresponding to each group of chips.

[0027] In a possible implementation, the computing module is specifically configured to combine every two chips in the plurality of GNSS chips to obtain a plurality of groups of chips, and each chip can be combined only once; and the number of the GNSS chips is an even number.

[0028] In a possible implementation manner, the observation data includes pseudorange and / or carrier phase.

[0029] In a possible implementation manner, the calculation module is further configured to calculate the absolute values ​​of the differences corresponding to the pseudoranges and carrier phases belonging to the same observation time in each group of chips if the observation data includes pseudoranges and carrier phases;

[0030] The absolute value of the difference between the pseudoranges and the absolute value of the difference between the carrier phases is weightedly calculated to obtain a first value.

[0031] In a possible implementation, the determination module is specifically configured to perform a root mean square calculation on the second values ​​corresponding to each group of chips to obtain the stability of the observation data of each group of chips.

[0032] In a possible implementation, the determination module is further configured to, if the observation data includes a pseudorange and a carrier phase, perform weighted calculation on the stability corresponding to the pseudorange and the stability of the carrier phase to determine the stability of the observation data of each group of chips.

[0033] In a possible implementation, the determination module is further configured to perform a root mean square calculation on the stability of the observation data of each group of chips calculated for all satellites to obtain the stability of the observation data of each group of chips.

[0034] In the fifth aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the stability of observation data as described in any one of the first aspects.

[0035] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the stability of observation data as described in any one of the first aspects are executed.

[0036] The present application provides a method, device, electronic device and storage medium for determining the stability of observation data, obtaining the observation data and observation time respectively corresponding to the satellite signal data in multiple GNSS chips, wherein the multiple GNSS chips receive the satellite signal data through the same antenna; calculating the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips; for each group of chips, calculating the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value; determining the stability of the observation data of each group of chips according to the variation amplitude of the second value corresponding to each group of chips over time. The present application determines the stability of the observation data of each group of chips by calculating the difference of the observation data of multiple chips at the same observation time, and the difference between the absolute value of the difference of the observation time at the current moment and the absolute value of the difference of the observation time at the previous moment of the multiple chips. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of the structure of a system for determining the stability of observation data provided in an embodiment of the present application is shown;

[0039] Figure 2 A flow chart showing another method for determining stability of observation data provided in an embodiment of the present application is shown;

[0040] Figure 3 A schematic diagram of the structure of a device for determining stability of observation data provided in an embodiment of the present application is shown;

[0041] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0043] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0044] In order to enable those skilled in the art to use the contents of this application, the following implementation is provided in conjunction with a specific application scenario, "the field of satellite navigation technology". For those skilled in the art, the general principles defined herein may be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "field of satellite navigation technology", it should be understood that this is only an exemplary embodiment.

[0045] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0046] It should be noted that the GNSS chip in the embodiment of the present application can also be replaced by a GNSS module, a GNSS receiver board, a GNSS receiver system, etc.

[0047] The following will be combined with the attached Figure 1 The implementation methods of the embodiments of the present application are described in detail; Figure 1 A schematic diagram of the structure of a system for determining the stability of observation data provided in an embodiment of the present application is shown.

[0048] The solution provided in the embodiment of the present application can be applied to Figure 1In the system for determining the stability of observation data, the system includes: a GNSS antenna 101, a radio frequency front end 102, a GNSS chip 103, a microprocessor 104, an interface driving unit 105, and a ground inspection device 106.

[0049] Specifically, the GNSS antenna 101 is unidirectionally connected to the RF front end 102 for communication, the RF front end 102 is unidirectionally connected to the multiple GNSS chips 103 for communication, the multiple GNSS chips 103 are unidirectionally connected to the corresponding microprocessors 104 for communication, the multiple microprocessors 104 are unidirectionally connected to the corresponding interface driver units 105 for communication, and the multiple interface driver units 105 are unidirectionally connected to the ground inspection device 106 for communication.

[0050] The GNSS chip 103 is used to receive satellite signal data through the GNSS antenna 101 .

[0051] Specifically, the RF front end 102 sends the satellite signal data received by the GNSS antenna 101 to the GNSS chip 103 .

[0052] The RF front end 102 performs filtering and low-noise amplification processing on the satellite signal data sent by the GNSS antenna 101 , and sends the processed satellite signal data to the GNSS chip 103 .

[0053] Specifically, the GNSS chip 103 receives the satellite signal data sent by the RF front end 102, and calculates the observation data and the corresponding observation time according to the satellite signal data.

[0054] The ground inspection device 106 is used to obtain the observation data and observation time corresponding to the satellite signal data in the multiple GNSS chips 103.

[0055] Specifically, the microprocessor 104 sends the observation data and observation time sent by the corresponding GNSS chip 103 to the interface driver unit 105 , and the interface driver unit 105 sends the observation data and observation time sent by the microprocessor 104 to the ground inspection device 106 .

[0056] The microprocessor 104 receives the observation data and observation time sent by the GNSS chip 103 , filters out the pseudorange and carrier phase from the observation data, combines the pseudorange and carrier phase and the corresponding observation time into new observation data and observation time and sends them to the interface driver unit 105 .

[0057] Specifically, the ground inspection device 106 receives the observation data and observation time sent by the interface driving unit 105 .

[0058] The ground inspection device 106 is further used to calculate the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain a first value.

[0059] The ground inspection device 106 is also used for each chip group including two GNSS chips; for each chip group, the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment is calculated to obtain the second value.

[0060] The ground inspection device 106 is further used to determine the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips.

[0061] The embodiment of the present application provides a system for determining the stability of observation data. First, a ground-connected device receives satellite signal data from multiple GNSS chips through the same antenna, and each GNSS chip calculates the observation data and observation time according to the received satellite signal data; then, the ground inspection device calculates the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips; the ground inspection device calculates the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment for each group of chips, and obtains a second value; finally, the ground inspection device determines the stability of the observation data of each group of chips according to the variation amplitude of the second value corresponding to each group of chips over time. In this system, the ground inspection device determines the stability of the observation data of each group of chips by calculating the difference of the observation data of multiple chips at the same observation time, and the difference between the absolute value of the difference of the observation time of multiple chips at the current moment and the absolute value of the difference of the observation time at the previous moment.

[0062] Reference Figure 2 As shown, it is a flow chart of a method for determining the stability of observation data provided by an embodiment of the present application, and the method is applied to Figure 1 The method of the ground inspection device 106 in the system for observing data stability as shown includes:

[0063] S201, obtaining observation data and observation time respectively corresponding to satellite signal data in multiple GNSS chips.

[0064] Among them, multiple GNSS chips receive satellite signal data sent by the same GNSS antenna 101 through the same RF front end. The same RF front end and the same GNSS antenna are designed to make the paths of the satellite signal data received by the GNSS chip the same, thereby preventing different errors in the satellite signal data received by the GNSS chip due to the differences in the receiving path and the RF path.

[0065] The observation data includes pseudorange and / or carrier phase.

[0066] Specifically, multiple groups of chips are obtained by combining every two chips in the multiple GNSS chips, and each chip can be combined only once; and the number of the GNSS chips is an even number.

[0067] The number of GNSS chips is an even number, so that multiple chips can be combined in pairs without repeatedly testing the same chip, which would lead to a waste of resources.

[0068] S202: Calculate the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain a first value.

[0069] Specifically, if the observation data includes pseudorange and carrier phase, the absolute values ​​of the differences corresponding to the pseudorange and carrier phase at the same observation time in each group of chips are calculated;

[0070] For example, at the 1st, 2nd and 3rd seconds, the pseudorange of one chip in a chipset is 2, 2 and 3 respectively, and the carrier phase is 3, 4 and 3 respectively; the pseudorange of another chip is 2, 1 and 2 respectively, and the carrier phase is 3, 4 and 2 respectively; then the absolute value of the difference between the pseudorange and the carrier phase at the same observation time is calculated respectively. Therefore, at the 1st, 2nd and 3rd seconds, the absolute value of the difference in the pseudorange of this group of chips is 0, 1 and 1 respectively, and the absolute value of the difference in the carrier phase is 0, 0 and 1 respectively.

[0071] Optionally, a first value is obtained by performing a weighted calculation on the absolute value of the difference between the pseudoranges and the absolute value of the difference between the carrier phases.

[0072] Among them, when the observation data includes pseudorange and carrier phase, the comprehensive difference of the pseudorange and carrier phase of the GNSS chip can be determined, that is, the absolute values ​​of the differences corresponding to the pseudorange and carrier phase are weighted to obtain the first value. The default pseudorange weight is 0.6, and the carrier phase weight is 0.4. Users can also customize the weights.

[0073] For example, at the 1st, 2nd, and 3rd seconds, the absolute values ​​of the difference in pseudoranges of a certain group of chips are 0, 1, and 1, respectively, and the absolute values ​​of the difference in carrier phases are 0, 0, and 1, respectively; then the first values ​​at the 1st, 2nd, and 3rd seconds are 0*0.6+0*0.4=0, 1*0.6+0*0.4=0.6, and 1*0.6+1*0.4=1, i.e. 0, 0.6, and 1, respectively.

[0074] It should be noted that, you can also choose to calculate the first values ​​of the pseudorange and the carrier phase respectively without performing weighted calculation, then the absolute value of the difference corresponding to the pseudorange and the carrier phase is the first value corresponding to the pseudorange and the carrier phase respectively.

[0075] S203 . For each group of chips, calculate the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value.

[0076] Optionally, if the first value includes only one first value group, then only one second value is calculated.

[0077] For example, at the 1st, 2nd, and 3rd seconds, the first values ​​of a group of chips are 0, 1, and 1 respectively. Then the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment is 1-0=1 and 1-1=0 respectively, and the absolute value of the difference is 1 and 0, so the second value is 1 and 0.

[0078] Optionally, if the first value includes first values ​​corresponding to the pseudorange and the carrier phase, respectively, then second values ​​of the pseudorange and the carrier phase are calculated respectively.

[0079] S204: Determine the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips.

[0080] Specifically, the second values ​​corresponding to each group of chips are calculated by root mean square to obtain the stability of the observation data of each group of chips.

[0081] Optionally, if the second value includes second values ​​corresponding to the pseudorange and the carrier phase respectively, then the stabilities corresponding to the pseudorange and the carrier phase in each group of chips are calculated respectively.

[0082] For example, if the second value of the pseudorange of a group of chips is 1, 0, and the second value of the carrier phase is 1, 1, then the stability of the pseudorange and carrier phase is respectively and 1.

[0083] Optionally, the stability corresponding to the pseudorange and the stability of the carrier phase are weightedly calculated to determine the stability of the observation data of each group of chips.

[0084] The observation data include pseudorange and carrier phase.

[0085] It should be noted that this method may choose not to perform weighted calculation on the stability corresponding to the pseudorange and the stability of the carrier phase.

[0086] Optionally, a root mean square calculation is performed on the stability of the observation data of each group of chips calculated for all satellites to obtain the stability of the observation data of each group of chips.

[0087] When the chip receives observation data from multiple satellites, the stability of the observation data of each group of chips calculated by the multiple satellites is calculated by performing a root mean square calculation to obtain the stability of the observation data of each group of chips.

[0088] The present application provides a method, device, electronic device and storage medium for determining the stability of observation data, the method comprising: obtaining the observation data and observation time respectively corresponding to the satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive the satellite signal data through the same antenna; calculating the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips comprises two GNSS chips; for each group of chips, calculating the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value; determining the stability of the observation data of each group of chips according to the variation amplitude of the second value corresponding to each group of chips over time. The present application determines the stability of the observation data of each group of chips by calculating the difference of the observation data of the observation data of the plurality of chips at the same observation time, and the difference between the absolute value of the difference of the observation time of the plurality of chips at the current moment and the absolute value of the difference of the observation time of the plurality of chips at the previous moment.

[0089] Reference Figure 3 FIG. 1 is a schematic diagram of a device for determining stability of observation data provided in an embodiment of the present application, the device comprising:

[0090] An acquisition module 301 acquires observation data and observation time respectively corresponding to satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive satellite signal data through a same GNSS antenna;

[0091] A calculation module 302 is used to calculate the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips;

[0092] The calculation module 302 is further used to calculate, for each group of chips, an absolute value of a difference between a first value of the observation time at a current moment and a first value of the observation time at a previous moment, to obtain a second value;

[0093] The determination module 303 is used to determine the stability of the observation data acquisition of each group of chips according to the temporal variation of the second value corresponding to each group of chips.

[0094] In a possible implementation, the calculation module 302 is specifically configured to combine every two chips in the plurality of GNSS chips to obtain multiple groups of chips, and each chip can be combined only once; and the number of the GNSS chips is an even number.

[0095] In a possible implementation manner, the observation data includes a pseudorange and / or a carrier phase.

[0096] In a possible implementation, the calculation module 302 is further used to calculate the absolute values ​​of the differences corresponding to the pseudoranges and carrier phases belonging to the same observation time in each group of chips if the observation data includes pseudoranges and carrier phases; and perform weighted calculation on the absolute values ​​of the differences in the pseudoranges and the absolute values ​​of the differences in the carrier phases to obtain a first value.

[0097] In a possible implementation, the determination module 303 is specifically configured to perform a root mean square calculation on the second values ​​corresponding to each group of chips to obtain the stability of the observation data of each group of chips.

[0098] In a possible implementation, the determination module 303 is further configured to, if the observation data includes a pseudorange and a carrier phase, perform weighted calculation on the stability corresponding to the pseudorange and the stability of the carrier phase to determine the stability of the observation data of each group of chips.

[0099] In a possible implementation, the determination module 303 is further configured to perform a root mean square calculation on the stability of the observation data of each group of chips calculated for all satellites to obtain the stability of the observation data of each group of chips.

[0100] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device is running, the processor 401 and the memory 402 communicate through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the method for determining the stability of the observation data as described above.

[0101] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memory and processor, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the above-mentioned method for determining the stability of the observation data can be executed.

[0102] Corresponding to the above-mentioned method for determining the stability of data acquisition, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining the stability of the observed data are executed.

[0103] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0104] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0106] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0107] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining the stability of observation data, characterized in that: The method comprises: Obtaining observation data and observation time respectively corresponding to satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive the satellite signal data through the same GNSS antenna; Calculating the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips; For each group of chips, calculate the absolute value of the difference between the first value of the observation time at the current moment and the first value of the observation time at the previous moment to obtain a second value; The stability of the observation data of each group of chips is determined according to the temporal variation range of the second numerical value corresponding to each group of chips; wherein, when the chip receives the observation data from multiple satellites, the stability of the observation data of each group of chips calculated for the multiple satellites is calculated by performing a root mean square calculation to obtain the stability of the observation data of each group of chips.

2. The method for determining the stability of observation data according to claim 1, characterized in that: Before calculating the absolute value of the difference of the observation data belonging to the same observation time in each group of chips, the method further includes: Multiple groups of chips are obtained by combining every two chips among the multiple GNSS chips, and each chip can only be combined once; the number of the GNSS chips is an even number.

3. The method for determining the stability of observation data according to any one of claims 1 to 2, characterized in that: The observation data includes pseudorange and / or carrier phase.

4. The method for determining the stability of observation data according to claim 3, characterized in that: The step of calculating the absolute value of the difference between the observation data belonging to the same observation time in each group of chips to obtain the first value includes: If the observation data includes pseudorange and carrier phase, calculate the absolute value of the difference between the pseudorange and carrier phase in each group of chips belonging to the same observation time; A first value is obtained by performing weighted calculation on the absolute value of the difference of the pseudoranges and the absolute value of the difference of the carrier phases.

5. The method for determining the stability of observation data according to claim 3, characterized in that: The step of determining the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips comprises: The second values ​​corresponding to each group of chips are calculated by root mean square to obtain the stability of the observation data of each group of chips.

6. The method for determining the stability of observation data according to claim 1 or 5, characterized in that: The step of determining the stability of the observation data of each group of chips according to the temporal variation of the second value corresponding to each group of chips comprises: If the observation data includes a pseudorange and a carrier phase, a weighted calculation is performed on the stability corresponding to the pseudorange and the stability of the carrier phase to determine the stability of the observation data of each group of chips.

7. A device for determining the stability of observation data, characterized in that: The data acquisition stability determination device comprises: An acquisition module, used to acquire observation data and observation time respectively corresponding to satellite signal data in a plurality of GNSS chips, wherein the plurality of GNSS chips receive satellite signal data through a same GNSS antenna; A calculation module, used to calculate the absolute value of the difference of the observation data belonging to the same observation time in each group of chips to obtain a first value; each group of chips includes two GNSS chips; The calculation module is further used to calculate, for each group of chips, an absolute value of a difference between a first value of the observation time at a current moment and a first value of the observation time at a previous moment, to obtain a second value; A determination module is used to determine the stability of observation data acquisition of each group of chips according to the temporal variation range of the second numerical value corresponding to each group of chips; wherein, when the chip receives observation data from multiple satellites, a root mean square calculation is performed on the stability of the observation data of each group of chips calculated for the multiple satellites to obtain the stability of the observation data of each group of chips.

8. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the stability of observation data as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the stability of observation data according to any one of claims 1 to 6 are executed.

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