A precise satellite navigation data processing method, device, equipment and storage medium

Abstract

The application discloses a precise satellite navigation data processing method, device and equipment and a storage medium. The method comprises the following steps: acquiring reference station data corresponding to a plurality of reference stations in a target test area, wherein the target test area is pre-set; calling a preset carrier phase observation model to process the reference station data corresponding to the plurality of reference stations respectively to obtain phase bias data corresponding to the plurality of reference stations, wherein the phase bias data is used for representing phase delay error, satellite orbit error and satellite clock error; and performing fusion processing on the phase bias data to obtain target area phase bias. The application calculates the phase bias data by using the reference stations in a specific area, so that the satellite ephemeris error is fused in the phase bias data of the satellite, the phase bias data can resist the error from the satellite orbit in the use process of a PPP-RTK server, and the positioning accuracy of the PPP-RTK server is improved.

Description

Technical Field

[0001] This application relates to the field of precision satellite navigation technology, and in particular to a precision satellite navigation data processing method, apparatus, device and storage medium. Background Technology

[0002] Currently, PPP-RTK (Precise Point Positioning – Real Time Kinematic) technology is gradually replacing traditional RTK technology and becoming the mainstream technology for high-precision satellite navigation due to its lower operating costs and higher reliability. This technology has significant application value in fields such as autonomous driving and smart terminals. One of the key aspects of PPP-RTK technology is how to provide high-precision regional augmentation services. This service mainly includes various global deviation data, as well as precise ionospheric delay and precise tropospheric delay for the region. Among these, the accuracy of the precise orbit is a crucial factor in ensuring the accuracy and stability of PPP-RTK server-side products. According to traditional algorithms, if the error is too large, even if other products can be generated normally, the final product accuracy will still be difficult to meet the high-precision positioning requirements of PPP-RTK users.

[0003] Traditional PPP-RTK server-side algorithms utilize global reference stations to estimate Precise Phase Deviation (UPD) products. While this approach yields relatively accurate UPD, the estimation accuracy decreases when the precision of the orbit is poor. Consequently, the estimation accuracy of the ionosphere and troposphere in the corresponding regions fails to meet the high-precision positioning requirements of PPP-RTK users. Improving orbit accuracy necessitates both enhancing algorithm performance and massively increasing the number of base stations globally, which presents significant obstacles in terms of operational costs and international negotiation. Therefore, a new technical solution is needed to address these issues and compensate for the insufficient orbit accuracy. Summary of the Invention

[0004] To address the aforementioned technical issues, this application discloses a precise satellite navigation data processing method. By using a reference station within a specific area to calculate phase deviation data, satellite ephemeris errors are fused into the satellite's phase deviation data. This allows the phase deviation data to resist errors from the satellite orbit during use by the PPP-RTK server, thereby improving the positioning accuracy of the PPP-RTK server.

[0005] To achieve the aforementioned objectives, this application provides a method for processing precision satellite navigation data.

[0006] Acquire the base station data corresponding to each of the multiple base stations within the target test area, wherein the target test area is pre-defined;

[0007] A preset carrier phase observation model is invoked to process the reference station data corresponding to each of the multiple reference stations, thereby obtaining the phase deviation data corresponding to each of the multiple reference stations. The phase deviation data is used to characterize the phase delay error, satellite orbit error, and satellite clock error.

[0008] The phase deviation data are fused together to obtain the phase deviation of the target area.

[0009] In some implementations, before acquiring the base station data corresponding to each of the multiple base stations within the target test area, the method further includes:

[0010] To obtain satellite orbital altitude information and satellite orbital errors;

[0011] The target test angle range is determined based on the satellite's orbital altitude information, the satellite's orbital error, and the Earth's radius;

[0012] A preset function is invoked to calculate the regional coordinates of the target test angle range, the satellite's orbital altitude information, and the Earth's radius to obtain the target test area.

[0013] In some implementations, determining the target test angle range based on the satellite's orbital altitude information, the satellite's orbital error, and the Earth's radius includes:

[0014] A preset function is invoked to calculate the angle range of the satellite's orbital altitude information and the Earth's radius, thereby obtaining the correspondence between the target test angle range and the target test area. The target angle range is the coverage angle range corresponding to the target test area.

[0015] Based on a preset error calculation function, the correspondence between the satellite orbit error and the target test angle range and the target test area is calculated and processed to obtain the correspondence between the satellite's target orbit error and the target test angle range.

[0016] If the target trajectory error is less than the preset positioning accuracy, the target test angle range is determined according to the correspondence between the target trajectory error and the target test angle range.

[0017] In some implementations, the step of calling a preset function to calculate the regional coordinates of the target test angle range, the satellite's orbital altitude information, and the Earth's radius to obtain the target test area includes:

[0018] Based on the target test angle range, the satellite's orbital altitude information, and the Earth's radius, coordinate calculations are performed to obtain two target intersection lines that are externally tangent to the Earth, wherein the angle between the two target intersection lines is equal to the angle corresponding to the target test angle range;

[0019] The target intersection line, the altitude corresponding to the satellite's orbital altitude information, and the Earth's radius are used to perform trigonometric function calculations to obtain the target line connecting the two target intersection lines and the two tangent points of the Earth, and the target angle, wherein the target angle is directed toward the satellite.

[0020] The target test area is obtained by calculating the surface area of ​​the Earth's radius, the line connecting the targets, and the included angle of the targets.

[0021] In some implementations, the step of calculating coordinates based on the target test angle range, the satellite's orbital altitude information, and the Earth's radius to obtain the intersection lines of two targets externally tangent to the Earth includes:

[0022] A reference circle is obtained by drawing a circle with the Earth's center as the reference center and the Earth's radius as the radius.

[0023] Starting from the location of the satellite, a perpendicular line is drawn to the reference circle to obtain the reference centerline. The length of the reference centerline is equal to the altitude value corresponding to the orbital altitude information of the satellite.

[0024] By taking the starting point of the reference centerline as the vertex and the reference centerline as the centerline, two lines of intersection can be drawn to the reference circle to obtain two target lines that are externally tangent to the Earth.

[0025] In some implementations, the reference station data includes observation data and data center data; the step of calling a preset carrier phase observation model, which processes the reference station data corresponding to each of the plurality of reference stations to obtain phase deviation data corresponding to each of the plurality of reference stations, includes:

[0026] The observation data and data from the data center corresponding to each reference station are input into the preset carrier phase observation model for calculation to obtain the target error data;

[0027] When the target error data meets the preset error conditions, the target error data is determined as phase deviation data.

[0028] In some embodiments, the step of fusing the phase deviation data to obtain the phase deviation of the target region includes:

[0029] Call the preset combination method to obtain the wide lane data and narrow lane data corresponding to each phase deviation data;

[0030] The width alley data corresponding to each phase deviation data are fused to obtain the target width alley data.

[0031] The narrow alley data corresponding to each phase deviation data are fused to obtain the target narrow alley data.

[0032] The target wide lane data and the target narrow lane data are determined as the target region phase deviation.

[0033] This application also provides a precision satellite navigation data processing device, the device comprising:

[0034] The first acquisition module is used to acquire the satellite's orbital altitude information and to acquire the target test angle range based on the satellite's orbital error;

[0035] The first acquisition module is used to acquire the base station data corresponding to each of the multiple base stations in the target test area, wherein the target test area is preset.

[0036] The first processing module is used to call a preset carrier phase observation model to process the reference station data corresponding to each of the multiple reference stations to obtain the phase deviation data corresponding to each of the multiple reference stations. The phase deviation data is used to characterize the phase delay error, satellite orbit error and satellite clock error.

[0037] The fusion module is used to fuse the phase deviation data to obtain the phase deviation of the target area.

[0038] This application also provides a precision satellite navigation data processing device, the device including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the precision satellite navigation data processing method as described above.

[0039] This application also provides a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded by a processor and executed as described above in the precision satellite navigation data processing method.

[0040] Implementing the embodiments of this application has the following beneficial effects:

[0041] The precision satellite navigation data processing method disclosed in this application acquires reference station data corresponding to multiple reference stations within the target test area; calls a preset carrier phase observation model to process the phase deviation data of the satellite carrier phase information received by each reference station, thereby obtaining the phase deviation data corresponding to each of the multiple reference stations. The phase deviation data is used to characterize phase delay error, satellite orbit error, and satellite clock error; the phase deviation data are then fused to obtain the target area phase deviation. This application, by using reference stations within a specific area to calculate the phase deviation data, integrates satellite ephemeris errors into the satellite phase deviation data. This allows the phase deviation data to resist errors from satellite orbits during PPP-RTK server use, improving the positioning accuracy of the PPP-RTK server. Attached Figure Description

[0042] To more clearly illustrate the precision satellite navigation data processing method, apparatus, device, and storage medium described in this application, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart illustrating a precision satellite navigation data processing method provided in this application embodiment;

[0044] Figure 2 A flowchart illustrating another precision satellite navigation data processing method provided in this application embodiment.

[0045] Figure 3 A flowchart illustrating a method for determining a target test area provided in an embodiment of this application;

[0046] Figure 4 This is an exemplary flowchart illustrating the trigonometric function calculation when calculating a target intersection line, as provided in an embodiment of this application.

[0047] Figure 5 An exemplary schematic diagram of a target test area provided in an embodiment of this application;

[0048] Figure 6 A schematic diagram of the structure of a precision satellite navigation data processing device provided in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0051] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0052] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0053] Satellite ephemeris error is the difference between the satellite's position in space given by the ephemeris and its actual position. It includes satellite orbit error and satellite clock error.

[0054] Satellite clock error: After accurately correcting other errors, the satellite clock error has the greatest impact among the residual errors. Conventional differential GPS uses satellite clock corrections provided by broadcast ephemeris, which only approximately reflects the physical difference between the satellite clock and standard GPS time.

[0055] A base station is a fixed ground observation station that conducts long-term continuous observation of satellite navigation signals and transmits the observation data to a data center in real time or at regular intervals via communication facilities.

[0056] The base station data includes observation data, data center data, and service data; among which, the observation data includes pseudorange, carrier phase observation data, and Doppler observation data.

[0057] Data center data includes base station coordinates, base station network observation data, starting point coordinates (control point coordinates used for base station result calculation), regional coordinate transformation model, regional geoid elevation anomaly, and base station information (including point name, point number, category, level, map sheet, approximate location of the station accurate to the minute, local township, station establishment date, receiver model, amount of archived observation data, selected points, buried stones, and entrusted storage unit).

[0058] The service data includes real-time differential service data, precise post-processing service data (precise ephemeris, clock error, ionosphere, troposphere, etc.), and observation data from ordinary reference stations.

[0059] A standard reference station refers to a reference station built outside a military restricted area.

[0060] The elevation angle is the angle between the direction line from a point to the observed target and the horizontal plane. It is the main observation in trigonometric leveling for calculating the elevation difference between two points. Satellite elevation angle: refers to the angle between the direction line from the satellite center to the ground and the horizontal plane of the ground; its value varies between 0° and 90°.

[0061] PPP-RTK is a precise single-point positioning mode that can determine the integer solution of ambiguity. It aims to separate the UPD product from the floating-point solution of ambiguity, so that the ambiguity can be fixed.

[0062] UPD, Uncalibrated Hardware Delay, can also be called Phase Delay.

[0063] The following combination Figure 1 This application introduces a precise satellite navigation data processing method that can be applied to PPP-RTK positioning technology; specifically, it can be used for the calculation of phase deviation data. This application mainly introduces a method for calculating UPD data using a reference station in a specific area.

[0064] Please refer to Figure 1 The diagram illustrates a flowchart of a precision satellite navigation data processing method according to an embodiment of this application. This specification provides the operational steps of the method described in the embodiments or flowchart, but based on conventional or non-inventive methods, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. The precision satellite navigation data processing method can be executed according to the method order shown in the embodiments or drawings. Specifically, as shown in the attached diagram... Figure 1 As shown, the electric heating device includes a first heating unit and a second electric heating unit for generating heat, and the method includes:

[0065] S101, Obtain the base station data corresponding to each of the multiple base stations in the target test area, wherein the target test area is preset;

[0066] In the embodiments of this application, it should be noted that the target test area can be any area on the Earth's surface that meets the above calculation conditions;

[0067] In this embodiment, the target test area includes at least two reference stations. Based on the characteristic that the effect of satellite orbital error is mainly concentrated in the direction of the line connecting the satellite and the receiver, this application selects reference station data from reference stations in the target test area with small changes in the radial angle of the satellite to calculate the phase deviation data. This allows the orbital error to be absorbed into the UPD product. Thus, although the estimated UPD product is not an exact UPD, it can offset the orbital error during use because it absorbs the orbital error, thereby ensuring the accuracy of the PPP-RTK service.

[0068] Preferably, multiple reference stations may be included, and the satellite ephemeris errors (satellite orbit errors and clock errors) observed by any two reference stations are relatively small. In this application, the satellite ephemeris errors observed by any two reference stations can be ignored.

[0069] S102, call the preset carrier phase observation model to process the data of each of the multiple reference stations to obtain the phase deviation data of each of the multiple reference stations. The phase deviation data is used to characterize the phase delay error, satellite orbit error and satellite clock error.

[0070] In this embodiment of the application, each base station corresponds to its own base station data; each base station data includes observation data and data center data; wherein, the observation data may be data transmitted by satellites received by the base station; the data center data may be relevant data of the base station itself;

[0071] Specifically, compared to the PPP-RTK server, each PPP-RTK server includes multiple base stations, and each base station can observe the signals of several satellites. Specifically, the carrier phase observation model can be used to combine the signals into an ionospheric combination.

[0072] In this embodiment of the application, when using PPP-RTK positioning technology for testing, phase deviation data can be substituted into the carrier phase observation equation to calculate the actual distance between the receiver's position and the satellite.

[0073] In this embodiment of the application, the calculation of phase deviation data may include the following calculation method:

[0074] The observation data and data from the data center corresponding to each reference station are input into the preset carrier phase observation model for calculation to obtain the target error data;

[0075] In this embodiment of the application, the target error data of carrier phase measurement can be obtained by calculation based on the observation data received by the base station and the data of the base station itself.

[0076] For example, carrier phase observations can be obtained directly from observation data;

[0077] The actual distance between the satellite and the base station receiver can be calculated based on the satellite's coordinates and the base station's coordinates; the receiver clock bias can be obtained from the data center.

[0078] When the target error data meets the preset error conditions, the target error data is determined as phase deviation data.

[0079] In the embodiments of this application, the preset error condition can be the calculated target error data, which includes phase delay error, satellite orbit error and satellite clock error.

[0080] In this embodiment of the application, the target error data corresponding to each base station can be calculated separately to obtain the phase deviation data corresponding to each base station;

[0081] Specifically, in the embodiments of this application, the phase deviation data can be a scalar error value;

[0082] Specifically, it can be the sum of phase delay error, satellite orbit error, and satellite clock error.

[0083] In this embodiment of the application, the following carrier phase observation model can be used for calculation:

[0084] Model 1:

[0085] Where L represents the carrier phase observation value; This indicates the actual distance between the satellite and the receiver; c represents the speed of light; the subscript r represents the GNSS receiver, and the superscript s represents the navigation satellite; correspondingly, and These represent the receiver clock bias and the satellite clock bias, respectively. and These represent the receiver-side phase hardware delay and the satellite-side phase hardware delay, respectively, i.e., UPD. The wavelength representing the non-ionospheric combination, Indicates the integer ambiguity of the non-ionospheric combination; T represents the process delay error; This represents noise in ionospheric phase observations; the receiver can be a device that receives electromagnetic signals from the antenna in a base station.

[0086] Furthermore, This can include satellite orbital errors, satellite clock errors, receiver multipath errors, and receiver noise. Among these, the receiver multipath errors and noise are relatively small compared to those of a PPP-RTK reference station and can be ignored. Therefore, the main errors are concentrated on satellite orbital errors and satellite clock errors.

[0087] Specifically, based on the characteristic that the noise variable is directly additive with respect to the UPD variable, and the small orbital error between adjacent reference stations in the target test area, the satellite's orbital error and satellite clock error can be absorbed into the UPD product when being estimated.

[0088] Specifically, the following calculation model can be used for calculation;

[0089] Model 2:

[0090] Where D represents phase offset data, and d represents phase hardware delay offset data, which is also the standalone UPD product in the prior art. These include satellite orbital error, satellite clock error, and random noise.

[0091] Therefore, in the above data, in L, c Given the known data, the aforementioned known data can be substituted into Model 4, that is... By applying least squares or Kalman filtering algorithms to estimate the value of D, the value of D can be calculated.

[0092] S103, fuse the phase deviation data to obtain the phase deviation of the target area;

[0093] In this embodiment of the application, the phase deviation data, i.e., UPD, can generate wide lane data and narrow lane data;

[0094] Specifically, the wide lane data and narrow lane data of each phase deviation are fused to obtain the phase deviation of the target area;

[0095] Specifically, the following methods can be used for calculation.

[0096] First, a preset combination method can be called to obtain the wide lane data and narrow lane data corresponding to each phase deviation data;

[0097] In the embodiments of this application, the preset combination method may include the mw combination method and the ionization elimination combination method.

[0098] Specifically, the phase deviation of the target area, i.e., the UPD product, can be calculated by subtracting the pseudorange observation from the target narrow lane data from the target wide lane data using the MW combination method.

[0099] Furthermore, the generated UPD product can be sent to PPP-RTK users for use in order to accurately locate the satellite during satellite observation and calculate the actual distance between the satellite and the receiver.

[0100] In this embodiment of the application, the wide lane data can be wide lane observations, wherein the wide lane observations are combined observations with longer wavelengths obtained by L1+L2;

[0101] Narrow alley data can be narrow alley observations, where narrow alley observations are combined observations obtained by L1+L2 with smaller observation noise than both L1 and L2.

[0102] The width alley data corresponding to each phase deviation data are fused to obtain the target width alley data.

[0103] In this embodiment of the application, the least squares method can be used to calculate each width lane data, and the average value of each width lane data is the target width lane data;

[0104] The narrow alley data corresponding to each phase deviation data are fused to obtain the target narrow alley data.

[0105] In this embodiment of the application, the narrow alley data can be calculated using the least squares method, and the average value of the narrow alley data is the target narrow alley data;

[0106] The target wide lane data and the target narrow lane data are determined as the target region phase deviation.

[0107] In an exemplary embodiment, if the area within 1000km is taken as the target test area, and the service range of the PPP-RTK server is divided into regions within 1000km using a regional grid, and UPD estimation is performed using the reference stations within the target test area, then most of the satellite orbit errors can be absorbed into the UPD product, thereby ensuring good accuracy of the PPP-RTK service.

[0108] For example, when dividing the target test area in China, for the eastern region, due to its dense population and urgent need for high-precision positioning, a smaller area division scheme is proposed to ensure its accuracy to the greatest extent. For the western region, due to its sparse population and lower user demand, its area division can be larger, and its corresponding service accuracy will be correspondingly worse, but it can still meet the needs of decimeter-level navigation. For areas not included in the grid, UPD data generated by any nearby grid can be used.

[0109] In another embodiment of this application, the target test area needs to be determined before acquiring the base station data;

[0110] Specifically, such as Figure 2 The diagram shown is a flowchart illustrating another precise satellite navigation data processing method provided in this application embodiment, specifically including:

[0111] S201, Obtain satellite orbital altitude information and satellite orbital error;

[0112] It should be noted that, in the embodiments of this application, the satellite's orbital altitude information can represent the satellite's altitude information above the Earth's surface;

[0113] S202, the target test angle range is determined based on the satellite's orbital altitude information, satellite orbital error, and Earth's radius;

[0114] In the embodiments of the application, it should be noted that since the position of the satellite is a three-dimensional variable, its influence on the PPP-RTK server comes from the direction of the line connecting the satellite and the receiver in the base station; correspondingly, the satellite orbit error in this application refers to a vector error, which is the error of the three-dimensional variable of the satellite position.

[0115] In this embodiment of the application, the target test angle range can be determined based on the coverage angle range of the satellite. Specifically, the following steps can be taken:

[0116] A preset function is invoked to calculate the angle range of the satellite's orbital altitude information and the Earth's radius, thereby obtaining the correspondence between the target test angle range and the target test area. The target angle range is the coverage angle range corresponding to the target test area.

[0117] In this embodiment of the application, the preset function can be a trigonometric function.

[0118] Specifically, the following model can be used to calculate the range of the first angle;

[0119] Model 3:

[0120] Where R is the Earth's radius, and h is the altitude corresponding to the satellite's orbital altitude. Indicates the satellite's altitude range; Indicates the test area;

[0121] Based on a preset error calculation function, the correspondence between the satellite orbit error and the target test angle range and the target test area is calculated and processed to obtain the correspondence between the satellite's target orbit error and the target test angle range.

[0122] In this embodiment of the application, the preset error calculation function can be to convert the vector error of the satellite orbit error into a scalar; that is, the correspondence between the target orbit error of the satellite and the target test angle range can be obtained.

[0123] Specifically, the following calculation model can be used for calculation;

[0124] Model 4:

[0125] in, Indicates the target trajectory error. Indicates satellite orbital error. Indicates the range of the first angle;

[0126] If the target trajectory error is less than the preset positioning accuracy, the target test angle range is determined according to the correspondence between the target trajectory error and the target test angle range.

[0127] In this embodiment of the application, the preset positioning accuracy can be the accuracy of the positioning data measured by each reference station within the target test area;

[0128] Specifically, the following calculation model can be used to calculate the target test angle range;

[0129] Model 5:

[0130] Model Six:

[0131] in, Preset positioning accuracy; The target test angle range.

[0132] For example, It can be 0.05m;

[0133] Specifically, the target test angle range refers to the angle range information within a three-dimensional space;

[0134] S203, call the preset function to calculate the regional coordinates of the target test angle range, satellite orbital altitude information and Earth radius to obtain the target test area.

[0135] In this embodiment of the application, the preset function may include, but is not limited to, trigonometric functions and functions related to circle calculation;

[0136] Specifically, in the embodiments of this application, such as Figure 3 The diagram shown is a flowchart illustrating a method for determining a target test area provided in an embodiment of this application.

[0137] S301, based on the target test angle range, the satellite's orbital altitude information, and the Earth's radius, coordinate calculations are performed to obtain two target intersection lines that are externally tangent to the Earth, wherein the included angle between the two target intersection lines is equal to the angle corresponding to the target test angle range;

[0138] In this embodiment of the application, the target intersection line can be calculated in the following manner; specifically, as follows:

[0139] The target test angle range, the satellite's orbital altitude information, and the Earth's radius are used to calculate coordinates.

[0140] Using the Earth's position as a reference sphere, and taking the satellite's position as the starting point, draw a perpendicular line to the reference sphere to obtain the reference centerline.

[0141] Using the starting point of the reference centerline as the vertex and the reference centerline as the centerline, draw several lines of intersection to the reference sphere. Connect the intersection points of these lines with the Earth to obtain a cone structure whose side surface is tangent to the Earth. The angular range of the apex angle of the cone structure is equal to the angular range of the target test angle.

[0142] In the first-view side view of the vertebral structure, the two sides that are externally tangent to the Earth are identified as the two target intersection lines.

[0143] The first-person perspective can be any side view of the vertebral structure;

[0144] In another embodiment of this application, the target intersection line can also be calculated in the following manner, specifically, as follows: Figure 4 As shown, the target intersection line can be calculated by using the side view of the Earth and the satellite from the first perspective as the target view; the first perspective can be a straight view when the Earth and the satellite are in the same view.

[0145] A reference circle can be obtained by drawing a circle with the Earth's center as the reference center and the Earth's radius as the radius;

[0146] For example, a side view of the Earth as a first-person perspective can be used as a reference circle;

[0147] Starting from the location of the satellite, a perpendicular line is drawn to the reference circle to obtain the reference centerline. The length of the reference centerline is equal to the altitude value corresponding to the orbital altitude information of the satellite.

[0148] By taking the starting point of the reference centerline as the vertex and the reference centerline as the centerline, two lines of intersection can be drawn to the reference circle to obtain two target lines that are externally tangent to the Earth.

[0149] S302, perform trigonometric function calculations on the target intersection line, the altitude corresponding to the satellite's orbital altitude information, and the Earth's radius to obtain the target line connecting the two target intersection lines and the two tangent points of the Earth, and the target angle, wherein the target angle is directed toward the satellite;

[0150] In the embodiments of this application, such as Figure 4 As shown, one of the lines of intersection between the two targets is taken as one side, the altitude h corresponding to the satellite's orbital altitude information plus the Earth's radius is taken as the second side, and the Earth's radius is taken as the third side; the angle corresponding to the target's test angle range is taken as the third side. Half of it is the vertex angle, forming a triangle;

[0151] By performing trigonometric function calculations on the known vertex angle, second side, and third side, the length of the first side, which is the target intersection line, can be obtained.

[0152] Furthermore, after obtaining the length of the target intersection line,

[0153] The value of angle α is obtained by performing trigonometric function calculations on the lengths of the first, second, and third sides of the triangle and the value of the vertex angle.

[0154] Specifically, such as Figure 4 As shown, the included angle of the target is twice the angle α, which is 2α; correspondingly, the angle range of a certain area on the Earth's surface corresponding to the included angle of the target is 2α.

[0155] The target angle and the Earth's radius can be calculated using trigonometric functions to obtain the target connection value;

[0156] S303, perform surface area calculation processing on the Earth radius, the target line and the target angle to obtain the target test area;

[0157] In this embodiment of the application, the target test area can be the area of ​​the Earth's surface corresponding to the target angle 2α;

[0158] Specifically, trigonometric function calculations are performed based on the target angle, Earth's radius, and the target connection to obtain the height of the line connecting the vertex of the target angle to the target. Subtract the Earth's radius get ;

[0159] That is to say The following model can be used for calculation;

[0160] Model 2:

[0161] Where R represents the Earth's radius;

[0162] like Figure 5 As shown, in this application, the Earth's radius R can be used as the radius of the sphere, and the plane containing the line connecting the targets can be used as the base of the spherical cap. The height of the spherical cap can be used to define the area represented by the surface area of ​​the spherical cap as the target test area;

[0163] Then, the calculation model three for the target test area is performed as follows:

[0164] Model 3:

[0165] Where S represents the range of the target test area.

[0166] In an exemplary embodiment, if the Earth's radius R is 6371 km and the satellite's orbital altitude information corresponds to an altitude h of 21000 km, calculations show that to ensure the influence of the satellite's orbital error is within 1 cm, that is... If the target angle is less than or equal to 1cm, then the angle corresponding to the target test angle range is... The degree is 2.9 degrees. Further, the calculated range of the target test area can be... Figure 3 The arc length of the circle corresponding to the median angle 2α is approximately 1050 km.

[0167] S204, Obtain the base station data corresponding to each of the multiple base stations within the target test area, wherein the target test area is pre-defined;

[0168] S205, call the preset carrier phase observation model, process the reference station data corresponding to each of the multiple reference stations respectively, and obtain the phase deviation data corresponding to each of the multiple reference stations. The phase deviation data is used to characterize the phase delay error, satellite orbit error and satellite clock error.

[0169] S206, The phase deviation data of each phase are fused to obtain the phase deviation of the target area.

[0170] As can be seen from the embodiments of the precision satellite navigation data processing method, apparatus, device, and storage medium provided in this application, the embodiments of this application acquire the reference station data corresponding to multiple reference stations within a target test area, wherein the target test area is pre-defined; a preset carrier phase observation model is invoked to process the reference station data corresponding to each of the multiple reference stations respectively, thereby obtaining the phase deviation data corresponding to each of the multiple reference stations, wherein the phase deviation data is used to characterize phase delay error, satellite orbit error, and satellite clock error; the phase deviation data are fused to obtain the phase deviation of the target area; by using the technical solution provided in the embodiments of this specification to calculate the phase deviation data using reference stations within a specific area, the satellite ephemeris error is fused into the satellite phase deviation data, which can enable the phase deviation data to resist errors from satellite orbit during use by the PPP-RTK server, thereby improving the positioning accuracy of the PPP-RTK server.

[0171] This application also provides a precision satellite navigation data processing device, such as... Figure 6As shown, this is a schematic diagram of the structure of a precision satellite navigation data processing device provided in an embodiment of this application; specifically, the device includes:

[0172] The first acquisition module 610 is used to acquire the base station data corresponding to each of the multiple base stations in the target test area, wherein the target test area is preset.

[0173] The first processing module 620 is used to call a preset carrier phase observation model to process the reference station data corresponding to each of the multiple reference stations to obtain the phase deviation data corresponding to each of the multiple reference stations. The phase deviation data is used to characterize the phase delay error, satellite orbit error and satellite clock error.

[0174] The fusion module 630 is used to fuse the phase deviation data to obtain the phase deviation of the target area.

[0175] In this embodiment of the application, it also includes:

[0176] The second acquisition module 510 is used to acquire the satellite's orbital altitude information and satellite orbital error;

[0177] The determination module is used to determine the target test angle range based on the satellite's orbital altitude information, the satellite's orbital error, and the Earth's radius;

[0178] The second processing module is used to call a preset function to calculate the regional coordinates of the target test angle range, the satellite's orbital altitude information, and the Earth's radius to obtain the target test area.

[0179] In this embodiment of the application, the second acquisition module 510 includes:

[0180] The first calculation and processing unit is used to call a preset function to calculate the angle range of the satellite's orbital altitude information and the Earth's radius to obtain a first angle range, which is the coverage angle range of the satellite.

[0181] The second calculation and processing unit is used to calculate and process the satellite orbit error and the first angle range based on a preset error calculation function to obtain the target orbit error of the satellite.

[0182] The first determining unit is configured to determine, when the target orbit error is less than the preset positioning accuracy, the target test angle range being a part of the first angle range, based on the target orbit error.

[0183] In this embodiment of the application, the second processing module includes:

[0184] The first processing unit is used to perform coordinate calculations based on the target test angle range, the satellite's orbital altitude information, and the Earth's radius to obtain two target intersection lines that are externally tangent to the Earth, wherein the angle between the two target intersection lines is equal to the angle corresponding to the target test angle range;

[0185] The second processing unit is used to perform trigonometric function calculations on the target intersection line, the altitude corresponding to the satellite's orbital altitude information, and the Earth's radius to obtain the target line connecting the two target intersection lines and the two tangent points of the Earth and the target angle, wherein the target angle is directed toward the satellite.

[0186] The third processing unit is used to perform surface area calculation processing on the Earth radius, the target line and the target angle to obtain the target test area.

[0187] In this embodiment of the application, the first processing unit includes:

[0188] The first processing subunit is used to draw a circle with the center of the Earth as the reference center and the radius of the Earth as the radius, to obtain a reference circle;

[0189] The second processing subunit is used to draw a perpendicular line from the location of the satellite to the reference circle to obtain a reference centerline. The length of the reference centerline is equal to the altitude value corresponding to the orbital altitude information of the satellite.

[0190] The third processing subunit is used to draw two intersection lines with the reference circle, with the starting point of the reference centerline as the vertex and the reference centerline as the centerline, so as to obtain two target intersection lines that are externally tangent to the Earth.

[0191] In this embodiment of the application, the first processing module 620 includes:

[0192] The fourth processing unit is used to input the observation data and data center data corresponding to each reference station into the preset carrier phase observation model for calculation to obtain target error data;

[0193] The second determining unit is used to determine the target error data as phase deviation data when the target error data meets the preset error conditions.

[0194] In this embodiment of the application, the fusion module 630 includes:

[0195] The second acquisition unit is used to call a preset combination method to acquire the wide lane data and narrow lane data corresponding to each phase deviation data.

[0196] The first fusion unit is used to fuse the wide lane data corresponding to each phase deviation data to obtain the target wide lane data.

[0197] The second fusion unit is used to fuse the narrow alley data corresponding to each phase deviation data to obtain the target narrow alley data.

[0198] The third determining unit is used to determine the target wide lane data and the target narrow lane data as the target region phase deviation.

[0199] It should be noted that the apparatus and method embodiments described in the device embodiments are based on the same inventive concept.

[0200] This application provides a precision satellite navigation data processing device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the at least one instruction or at least one program to implement the precision satellite navigation data processing method as described in the above method embodiments.

[0201] Furthermore, Figure 7 A schematic diagram of the hardware structure of an electronic device for implementing the precision satellite navigation data processing method provided in the embodiments of this application is shown. The electronic device may participate in or include the precision satellite navigation data processing apparatus provided in the embodiments of this application. Figure 7 As shown, the electronic device 70 may include one or more (shown as 702a, 702b, ..., 702n) processors 702 (processors 702 may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory 704 for storing data, and a transmission device 706 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device 70 may also include... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0202] It should be noted that the aforementioned one or more processors 702 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be wholly or partially integrated into any other element within the electronic device 70 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0203] The memory 704 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the precision satellite navigation data processing method described in this embodiment. The processor 702 executes various functional applications and data processing by running the software programs and modules stored in the memory 704, thereby realizing the aforementioned precision satellite navigation data processing method. The memory 704 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 704 may further include memory remotely located relative to the processor 702, and these remote memories can be connected to the electronic device 70 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0204] The transmission device 706 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 70. In one example, the transmission device 706 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In one embodiment, the transmission device 706 may be a radio frequency (RF) module for wireless communication with the Internet.

[0205] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows a user to interact with the user interface of the electronic device 70 (or mobile device).

[0206] Embodiments of this application also provide a computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a precision satellite navigation data processing method in the method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the precision satellite navigation data processing method provided in the above method embodiment.

[0207] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0208] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are also possible or may be advantageous.

[0209] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various alternative implementations described above.

[0210] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and electronic device embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0211] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0212] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of precise satellite navigation data processing, characterized by, The method comprises: acquiring orbit height information of a satellite and satellite orbit error; calling a preset function to perform angle range calculation processing on the orbit height information of the satellite and the earth radius, to obtain a correspondence between a target test angle range and a target test region, the target test angle range being a coverage angle range corresponding to the target test region; based on a preset error calculation function, performing calculation processing on the satellite orbit error and the correspondence between the target test angle range and the target test region, to obtain a correspondence between a target orbit error of the satellite and the target test angle range; in a case where the target orbit error is less than a preset positioning accuracy, determining the target test angle range according to the correspondence between the target orbit error and the target test angle range; calling a preset function to perform region coordinate calculation on the target test angle range, the orbit height information of the satellite and the earth radius, to obtain a target test region; acquiring reference station data corresponding to each of a plurality of reference stations in the target test region; calling a preset carrier phase observation model to process the reference station data corresponding to each of the plurality of reference stations respectively, to obtain phase bias data corresponding to each of the plurality of reference stations, wherein the phase bias data is used to represent phase delay error, the satellite orbit error and satellite clock error; performing fusion processing on each phase bias data to obtain target region phase bias.

2. The precise satellite navigation data processing method of claim 1, wherein, The calling of the preset function to perform region coordinate calculation on the target test angle range, the orbit height information of the satellite and the earth radius to obtain a target test region comprises: based on the target test angle range, the orbit height information of the satellite and the earth radius, performing coordinate calculation to obtain two target intersection lines tangent to the earth, wherein the angle between the two target intersection lines is equal to the angle corresponding to the target test angle range; performing trigonometric function calculation on the target intersection lines, the height corresponding to the orbit height information of the satellite and the earth radius, to obtain a target connecting line between two tangent points of the two target intersection lines and the earth and a target included angle, the target included angle being towards the direction of the satellite; performing surface area calculation processing on the earth radius, the target connecting line and the target included angle, to obtain the target test region.

3. The precise satellite navigation data processing method of claim 2, wherein, The coordinate calculation based on the target test angle range, the orbit height information of the satellite and the earth radius to obtain two target intersection lines tangent to the earth comprises: taking the center of the earth as a reference center and the earth radius as a radius to make a circle, to obtain a reference circle; taking the position of the satellite as a starting point and making a perpendicular line to the reference circle to obtain a reference center line, the length of the reference center line being equal to the height value corresponding to the orbit height information of the satellite; taking the starting point of the reference center line as a vertex and the reference center line as a center line, making two intersection lines to the reference circle, to obtain the two target intersection lines tangent to the earth.

4. The precise satellite navigation data processing method of claim 1, wherein, The reference station data includes observation data and data center data; the preset carrier phase observation model is called to process the reference station data corresponding to each of the multiple reference stations respectively to obtain phase bias data corresponding to each of the multiple reference stations, and the phase bias data includes: The observation data and the data center data corresponding to each reference station are input into the preset carrier phase observation model for calculation to obtain target error data; When the target error data meets a preset error condition, the target error data is determined as phase bias data.

5. The precise satellite navigation data processing method of claim 1, wherein, The phase bias data is fused to obtain target area phase bias. It includes A preset combination method is called to obtain wide lane data and narrow lane data corresponding to each phase bias data; The wide lane data corresponding to each phase bias data is fused to obtain target wide lane data; The narrow lane data corresponding to each phase bias data is fused to obtain target narrow lane data; The target wide lane data and the target narrow lane data are determined as target area phase bias.

6. A precise satellite navigation data processing apparatus, characterized by comprising: The device includes: A first acquisition module is configured to acquire orbit height information of a satellite and satellite orbit error; A preset function is called to perform angle range calculation processing on the orbit height information of the satellite and the radius of the earth to obtain a correspondence between a target test angle range and a target test area, and the target test angle range is a coverage angle range corresponding to the target test area; Based on a preset error calculation function, the satellite orbit error and the correspondence between the target test angle range and the target test area are calculated to obtain a correspondence between a target orbit error of the satellite and the target test angle range; In the case that the target orbit error is less than a preset positioning accuracy, the target test angle range is determined according to the correspondence between the target orbit error and the target test angle range; A preset function is called to perform region coordinate calculation on the target test angle range, the orbit height information of the satellite and the radius of the earth to obtain a target test area; A first processing module is configured to call a preset carrier phase observation model to process the reference station data corresponding to each of the multiple reference stations respectively to obtain phase bias data corresponding to each of the multiple reference stations, wherein the phase bias data is used to represent phase delay error, satellite orbit error and satellite clock error; A fusion module is configured to fuse the phase bias data to obtain target area phase bias. The device includes a processor and a memory, and the memory stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the precise satellite navigation data processing method of any one of claims 1 to 5.

7. A precise satellite navigation data processing device, characterized by The storage medium stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the precise satellite navigation data processing method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, ​

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