Integrity monitoring method and device for regional ionospheric corrections

Abstract

The present application discloses a method and device for monitoring the integrity of regional ionospheric correction numbers. The method includes: obtaining regional ionospheric correction numbers; determining the first integrity monitoring identifier of the monitoring station in the integrity monitoring area based on the regional ionospheric correction numbers; determining the integrity monitoring results of the integrity monitoring area according to the information of the integrity monitoring area, and the integrity monitoring results include at least one of the following: integrity monitoring results of the entire area, integrity monitoring results of the sub-area, and index integrity monitoring results; outputting and broadcasting the integrity monitoring results of the integrity monitoring area. According to the embodiments of the present application, the availability of regional ionospheric correction numbers can be improved, and the false alarm rate of regional ionospheric correction number integrity monitoring can be reduced.

Description

Technical Field

[0001] The present application belongs to the field of navigation technology, and in particular, relates to a method and device for monitoring the integrity of regional ionospheric correction numbers. Background Art

[0002] Precise Point Positioning (PPP) uses precise satellite orbits, clock errors, UPD and other products, and uses accurate model corrections to obtain high-precision positioning results. However, the standard PPP convergence time is slow, and it takes about 15-30 minutes to achieve centimeter-level positioning accuracy. In order to speed up the convergence of PPP, it is necessary to provide high-precision atmospheric correction information, such as the regional ionosphere slant total electron content (Slant Total Electron Content, STEC) correction number, as a priori constraints to shorten the convergence time of PPP.

[0003] As the demand for high-precision positioning in commercial fields such as unmanned vehicles and autonomous driving increases, the application of high-precision positioning in these fields is the future development trend. Unmanned vehicles, autonomous driving and other fields have high requirements for automobile safety, so the high-precision position provided must also be safe and reliable. This requires that the broadcasted regional ionospheric STEC correction number products have integrity information. When the STEC correction number has a gross error, it is necessary to provide users with an alarm in time to avoid safety accidents.

[0004] Integrity is the degree of trust in the correctness of the output results of the navigation system. When the system cannot guarantee the service provided (exceeds the alarm threshold), the probability that a warning cannot be given within the specified time should be less than the specified value of the integrity risk. Satellite navigation system positioning devices, such as receivers, need a mechanism to provide integrity for positioning results. In the aviation field, in order to ensure flight safety, the commonly used receiver autonomous integrity monitoring determines whether the receiver results can provide navigation information for the aircraft. The positioning accuracy of the receiver used by the aircraft is at the meter level, which cannot be called high-precision positioning. Therefore, there is a certain difference between traditional integrity monitoring and integrity monitoring of high-precision regional ionospheric products (accuracy within 16cm).

[0005] In order to monitor the regional ionosphere with high precision, it is necessary to consider the local characteristics of the ionosphere, such as ionospheric scintillation. Therefore, when monitoring high-precision regional ionosphere products, a large number of sufficiently dense monitoring stations are required. In order to make the monitoring results cover the ionosphere characteristics of all regions, it is the most reliable practice to use the worst monitoring station integrity result as the integrity mark of the monitoring area.

[0006] However, before the system enters the integrity detection, the observation data will be preprocessed, such as pseudorange gross error detection, cycle slip detection, etc. Through these preprocessing, most of the observation data with poor quality can be eliminated. However, in order to ensure dense coverage of the stations, it is impossible to set too strict data quality detection thresholds, so a very small amount of poor quality observation data enters the integrity monitoring system.

[0007] The method of using the worst monitoring station integrity result as the integrity mark of the monitoring area will be affected by these extremely small amounts of poor quality observation data, which will increase the integrity false alarm rate and reduce the availability of high-precision regional ionospheric correction numbers. If the number of satellites with high-precision regional ionospheric correction numbers available to users is too small, the convergence speed will be greatly affected, seriously affecting the user experience.

[0008] Therefore, it is necessary to reduce the false alarm rate of integrity monitoring of high-precision regional ionospheric corrections without incurring integrity risks, so that users can obtain a sufficient number of high-precision regional ionospheric corrections so that the convergence speed can meet user needs. Summary of the invention

[0009] The embodiments of the present application provide a method, apparatus, device, computer storage medium and computer program product for monitoring the integrity of ionospheric correction numbers, which can improve the availability of regional ionospheric correction numbers and reduce the false alarm rate of regional ionospheric correction number integrity monitoring.

[0010] In a first aspect, an embodiment of the present application provides a method for monitoring the integrity of regional ionospheric correction numbers, the method comprising:

[0011] Get regional ionospheric corrections;

[0012] Determining, based on the regional ionospheric correction number, a first integrity monitoring flag of a monitoring station in the integrity monitoring area, the first integrity monitoring flag being used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available;

[0013] Determine the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, the integrity monitoring result including at least one of the following: the integrity monitoring result of the whole area, the integrity monitoring result of the sub-area and the index integrity monitoring result;

[0014] The integrity monitoring result indicates whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available;

[0015] The integrity monitoring results of the entire area include the integrity monitoring results obtained based on the first integrity monitoring identification of the monitoring stations adjacent to the integrity monitoring area;

[0016] The sub-area integrity monitoring result includes the integrity monitoring result obtained from the first integrity monitoring identifier of the integrity monitoring sub-area divided from the integrity monitoring area;

[0017] The index integrity monitoring results include the integrity monitoring results obtained based on the ionospheric total electron content change rate index ROTI value of the monitoring station;

[0018] Output and broadcast the integrity monitoring results of the integrity monitoring area.

[0019] In a second aspect, an embodiment of the present application provides a regional ionospheric correction integrity monitoring device, the device comprising:

[0020] A receiving module is used to receive regional ionospheric correction data;

[0021] an identification determination module, configured to determine a first integrity monitoring identification of a monitoring station in an integrity monitoring area based on the regional ionospheric correction number, wherein the first integrity monitoring identification is used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available;

[0022] A result determination module, configured to determine an integrity monitoring result of the integrity monitoring area according to information of the integrity monitoring area, wherein the integrity monitoring result includes at least one of the following: an integrity monitoring result of the entire area, an integrity monitoring result of a sub-area, and an index integrity monitoring result;

[0023] Among them, the integrity monitoring result represents whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available;

[0024] The integrity monitoring results of the entire area include the integrity monitoring results obtained based on the first integrity monitoring identification of the monitoring stations adjacent to the integrity monitoring area;

[0025] The sub-area integrity monitoring result includes the integrity monitoring result obtained from the first integrity monitoring identifier of the integrity monitoring sub-area divided from the integrity monitoring area;

[0026] The index integrity monitoring results include the integrity monitoring results obtained based on the ionospheric total electron content change rate index ROTI value of the monitoring station;

[0027] The output module is used to output and broadcast the integrity monitoring results of the integrity monitoring area.

[0028] In a third aspect, an embodiment of the present application provides a regional ionospheric correction number integrity monitoring device, the device comprising: a processor and a memory storing computer program instructions. When the processor executes the computer program instructions, the regional ionospheric correction number integrity monitoring method provided in any embodiment of the present application is implemented.

[0029] In a fourth aspect, an embodiment of the present application provides a computer storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, any of the regional ionospheric correction number integrity monitoring methods provided in the embodiments of the present application is implemented.

[0030] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instructions, characterized in that when the computer program / instructions are executed by a processor, a method for monitoring the integrity of regional ionospheric correction numbers as provided in any embodiment of the present application is implemented.

[0031] The embodiments of the present application provide a method, device, equipment, computer storage medium and computer program product for monitoring the integrity of regional ionospheric correction numbers, which can preliminarily determine whether the integrity of the regional ionospheric correction numbers of the monitoring station is available based on the regional ionospheric correction numbers. Using the preliminary judgment results, the integrity of the regional ionospheric correction numbers in the integrity monitoring area is monitored, and the integrity monitoring results of the integrity monitoring area are obtained, so as to determine whether the integrity of the regional ionospheric correction numbers in the integrity monitoring area is available, thereby reducing the false alarm rate of the integrity monitoring of the regional ionospheric correction numbers, and on the premise of ensuring the integrity risk index, the availability of the regional ionospheric correction numbers is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 It is a flow chart of a method for monitoring the integrity of regional ionospheric correction numbers provided by an embodiment of the present application;

[0034] Figure 2 It is a flow chart of a method for monitoring the integrity of regional ionospheric correction numbers provided by another embodiment of the present application;

[0035] Figure 3 A schematic diagram of a method flow of whole-area integrity detection, sub-area integrity detection and ROTI detection of an integrity monitoring area provided in one embodiment of the present application;

[0036] Figure 4A Schematic diagram of the number of unavailable monitoring stations in the integrity monitoring sub-area in one embodiment of the present application Figure 1 ;

[0037] Figure 4B Schematic diagram of the number of unavailable monitoring stations in the integrity monitoring sub-area in one embodiment of the present application Figure 2 ;

[0038] Figure 4C Schematic diagram of the number of unavailable monitoring stations in the integrity monitoring sub-area in one embodiment of the present application Figure 3 ;

[0039] Figure 5 It is a structural schematic diagram of a regional ionospheric correction integrity monitoring device provided by another embodiment of the present application;

[0040] Figure 6 It is a structural schematic diagram of a regional ionospheric correction data integrity monitoring device provided by yet another embodiment of the present application. DETAILED DESCRIPTION

[0041] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0043] Before describing in detail a method for monitoring the integrity of regional ionospheric correction numbers provided in an embodiment of the present application, a brief introduction to the technology involved in the present application is first given.

[0044] False alarm rate: The probability that the integrity monitoring flag is a warning when the system can guarantee the service provided (within the alarm threshold).

[0045] GNSS: Global Navigation Satellite System.

[0046] SSR: State Space Representation, standard difference correction format.

[0047] DCB: Differential code bias, pseudorange hardware delay.

[0048] UPD: Uncalibrated Phase Delay, phase uncorrected hardware delay error.

[0049] VTEC: Vertical Total Electron Content, vertical ionospheric total electron content.

[0050] ROTI: Rate of TEC Index, the rate of change of the total electron content of the ionosphere.

[0051] TEC: Total Electron Content, total electron content of the ionosphere.

[0052] At present, the different error sources of the navigation system observations are differentiated and modeled through a certain number of ground reference stations with known positions, and the calculated correction models or correction numbers are broadcast to users through communication links. Users perform data fusion based on these correction numbers and the pseudo-range observations of the receiver to improve the user's positioning accuracy.

[0053] At the same time, in order to speed up the convergence of the real-time positioning algorithm, users need to use regional ionospheric STEC correction products. And in the process of use, in order to ensure safety and reliability, users need to use the integrity mark to indicate the available corrections.

[0054] However, in order to ensure the availability of correction products, the number of monitoring stations used is not dense enough, and local ionospheric characteristics (such as ionospheric scintillation) cannot be reliably monitored, resulting in missed detections. The missed corrections will affect the user's positioning.

[0055] Therefore, when conducting integrity monitoring of regional ionospheric STEC corrections, a large number of densely packed monitoring stations are needed to monitor the local characteristics of the regional ionosphere. In order to ensure integrity risk, the monitoring results are usually the worst integrity monitoring results of all monitoring stations. This makes the integrity monitoring results greatly affected by the data quality of the monitoring stations, thus reducing the availability of regional ionospheric STEC corrections in the SSR.

[0056] When the availability of regional ionospheric STEC corrections is low, it is not conducive to accelerating the real-time PPP convergence speed. Therefore, in order to meet the user's requirements for PPP convergence speed, it is necessary to reduce the integrity false alarm rate of regional ionospheric STEC corrections.

[0057] However, the current integrity monitoring of high-precision regional ionospheric STEC correction products cannot take into account both availability and integrity risk. Moreover, if any indicator does not meet the requirements, it will affect the user's positioning.

[0058] It should be noted that the ionospheric service area is generally very large (such as the Chinese region). In order to make the ionospheric model more accurate, the service area is usually divided into several areas, and then the ionospheric model is performed for each area. The integrity monitoring is also to independently monitor the ionospheric correction numbers of these areas. In the embodiment of the present application, the several areas into which the service area is divided are called integrity monitoring areas.

[0059] In the embodiment of the present application, the purpose of integrity monitoring of regional ionospheric correction numbers is to make each set of regional ionospheric correction numbers undergo integrity monitoring and carry an integrity mark. The regional ionospheric correction numbers may include regional ionospheric STEC correction numbers.

[0060] In order to solve the problems of the prior art, the embodiments of the present application provide a method, device, equipment and computer storage medium for monitoring the integrity of regional ionospheric correction numbers, which use the correction numbers of the regional ionosphere to determine the first integrity monitoring mark of the monitoring station. And the integrity monitoring area is monitored for the integrity of the regional ionospheric correction numbers using the first integrity monitoring mark, so as to determine whether the regional ionosphere integrity of the integrity monitoring area is available.

[0061] In one aspect of an embodiment of the present application, a method for monitoring the integrity of regional ionospheric correction numbers is provided. Figure 1 A flow chart of the method for monitoring the integrity of regional ionospheric correction numbers provided in the embodiment of the present application. Figure 1 As shown in Figure 2, the integrity monitoring method of the ionospheric correction data in this area includes:

[0062] Step S11, obtaining regional ionospheric correction data.

[0063] Here, the regional ionospheric correction number integrity monitoring device obtains the regional ionospheric correction number of all monitoring stations in the integrity monitoring area. In addition, the regional ionospheric correction number integrity monitoring device also obtains broadcast ephemeris, integrity monitoring station observation values, and comprehensive correction numbers. The comprehensive correction number may include orbital clock correction number, satellite DCB correction number, and UPD correction number.

[0064] Step S12: determining a first integrity monitoring identifier of a monitoring station in the integrity monitoring area based on the regional ionospheric correction number.

[0065] Here, the first integrity monitoring identifier includes a regional ionospheric correction number integrity monitoring identifier, which is used to indicate whether the integrity of the regional ionospheric correction number is available. The first integrity monitoring identifier may include a first identifier and a second identifier. Among them, the first identifier indicates that the integrity of the regional ionospheric correction number of the monitoring station is available, and the second identifier indicates that the integrity of the regional ionospheric correction number of the monitoring station is not available. The regional ionospheric correction number integrity monitoring device determines the protection level of each monitoring station based on the regional ionospheric correction number. And the first integrity monitoring identifier of the monitoring station is determined according to the protection level.

[0066] Step S13: Determine the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area.

[0067] Here, the integrity monitoring result indicates whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. The information of the integrity monitoring area may include the regional information of the integrity monitoring area and the first integrity monitoring identifier of the monitoring station. The regional information includes the latitude and longitude information and the location information of the monitoring station.

[0068] The regional ionospheric correction integrity monitoring device determines the regional scope of the integrity monitoring area and the information of all monitoring stations in the integrity monitoring area according to the information of the integrity monitoring area, performs regional ionospheric correction integrity monitoring on the integrity monitoring area, and obtains the integrity monitoring results of the integrity monitoring area. The monitoring methods may include multiple methods, such as whole-area integrity detection, sub-area integrity detection and ROTI value detection.

[0069] Here, the integrity monitoring result may include at least one of the following: an entire area integrity monitoring result, a sub-area integrity monitoring result, and an index integrity monitoring result.

[0070] Among them, the whole-area integrity monitoring result is the integrity monitoring result obtained by performing a whole-area integrity detection on the integrity monitoring area, and may include the integrity monitoring result obtained based on the first integrity monitoring mark of the monitoring station adjacent to the integrity monitoring area. The sub-area integrity monitoring result is the integrity monitoring result obtained by performing a sub-area integrity detection on the integrity monitoring area, and may include the integrity monitoring result obtained from the first integrity monitoring mark of the integrity monitoring sub-area divided from the integrity monitoring area. The index integrity monitoring result is the integrity monitoring result obtained by performing a ROTI value detection on the integrity monitoring area, and may include the integrity monitoring result obtained based on the ROTI value of the monitoring station.

[0071] Step S14: output and broadcast the integrity monitoring results of the integrity monitoring area.

[0072] Here, the regional ionospheric correction integrity monitoring device outputs and broadcasts the integrity monitoring results of the integrity monitoring area through a communication link.

[0073] In addition, the regional ionospheric correction integrity monitoring device can also output and broadcast the integrity monitoring results of the integrity monitoring area within a preset time period, so as to monitor the integrity of the regional ionospheric correction numbers in a timely manner.

[0074] The specific implementation of the above steps is described in detail below.

[0075] In the above embodiment, the integrity monitoring method of the ionospheric correction number can preliminarily determine whether the integrity of the regional ionospheric correction number of the monitoring station is available based on the regional ionospheric correction number. Using the preliminary judgment result, the integrity of the regional ionospheric correction number in the integrity monitoring area is monitored, and the integrity monitoring result of the integrity monitoring area is obtained, so as to judge whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available, thereby reducing the false alarm rate of the integrity monitoring of the regional ionospheric correction number, and improving the availability of the regional ionospheric correction number under the premise of ensuring the integrity risk index.

[0076] The following introduces the specific implementation methods of the above steps.

[0077] In some embodiments, in order to identify the integrity of the regional ionospheric STEC correction number of the monitoring station, step S12, based on the regional ionospheric correction number, determines the first integrity monitoring mark of the monitoring station in the integrity monitoring area, which may include:

[0078] Step S121, based on the regional ionospheric correction number, the STEC model value is determined using the regional ionospheric model.

[0079] Here, the regional ionospheric correction integrity monitoring device obtains the corresponding STEC model value based on the regional ionospheric model and the regional ionospheric correction number. The regional ionospheric model may include an ionospheric correction model, such as the International Reference Ionosphere Model IRI, the Bent model, etc.

[0080] S122, based on the observations of the monitoring station, the broadcast ephemeris and the integrated correction number, the STEC estimate is solved using the undifferenced non-combined precise point positioning algorithm.

[0081] Here, through the observation values, broadcast ephemeris and comprehensive correction numbers of the monitoring station over a period of time, the regional ionospheric correction integrity monitoring device uses the observation equation in the non-differenced non-combined precise point positioning algorithm combined with the ionospheric delay thin layer model to obtain the STEC estimation value of the monitoring station.

[0082] It should be noted that, in the embodiment of the present application, not only the non-difference non-combined precise point positioning algorithm can be used to obtain the STEC estimation value, but also other differential positioning algorithms can be used to obtain the STEC estimation value.

[0083] Step 123, determining the integrity protection level of the regional ionospheric correction number based on the difference between the STEC model value and the STEC estimated value.

[0084] Here, the regional ionospheric correction integrity monitoring device calculates the difference between the STEC model value and the STEC estimated value of multiple consecutive epochs, and obtains the integrity protection level of the regional ionospheric correction number of the monitoring station based on the mapping relationship between the difference and the integrity protection level.

[0085] For example, the protection level can be represented by PL. For a certain integrity monitoring area, assuming that there are n monitoring stations monitoring satellite s, the regional ionospheric correction integrity monitoring device calculates the corresponding integrity protection level based on the mapping relationship between the difference between the STEC model value and the STEC estimated value and the integrity protection level:

[0086] Step 124: compare the integrity protection level with the first threshold value to determine the first integrity monitoring identifier of the monitoring station.

[0087] Here, the regional ionospheric correction number integrity monitoring device compares the integrity protection level with the first threshold value, and identifies the integrity of the regional ionospheric correction number according to the comparison result to obtain a first integrity monitoring identification of the monitoring station.

[0088] For example, taking the example that the first integrity monitoring identifier includes an available identifier and an unavailable identifier, the method for determining the first integrity monitoring identifier of the monitoring station is specifically described.

[0089] GNSS undifferenced pseudorange and phase observation equations:

[0090]

[0091]

[0092] Where s, r, I, and j represent satellite, receiver, epoch, and frequency numbers, respectively. and Represent pseudorange and phase observation values, respectively, in meters. is the distance from the satellite to the receiver (corrected for errors such as antenna phase center, relativistic effects, and solid tides). is the tropospheric delay. r,i and represent the receiver clock error and satellite clock error respectively. is the ionospheric delay at the jth frequency. r,j and Represent the pseudorange deviations of the receiver and satellite respectively. r,j and Represent the phase deviation of the receiver and the satellite respectively. r,j is the wavelength of the jth frequency; is the undifference ambiguity; ε P,i,j and ε L,i,j are the pseudorange and phase noise and the unmodeled error, respectively.

[0093] The processing method of each parameter in the above equation is as follows:

[0094] If the three-dimensional positions of satellite s and receiver r at epoch time i are (X s ,Y s ,Z s ) T and (X r ,Y r ,Z r ) T , It can be linearized into

[0095]

[0096] in, yes Approximate value of (dx,dy,dz) T Indicates the receiver position increment, satellite position (X s ,Y s ,Z s ) T The receiver position (X r ,Y r ,Z r ) T as unknown parameters to be estimated.

[0097] Parameterized as

[0098]

[0099] in, is the tropospheric delay model value (such as the Saastamoinen model), M is the projection function of the current epoch, is the residual tropospheric delay, which is used as the parameter estimate.

[0100] t r,i , The satellite clock error is calculated by broadcast ephemeris clock error and SSR clock error correction, and the receiver clock error is estimated as an unknown parameter.

[0101] Ionospheric delay is used as a parameter for estimation. The ionospheric delay contained in GNSS ranging signals of different frequencies has the following relationship:

[0102]

[0103] Among them, k and j represent different observation frequencies.

[0104] b r,j and Pseudorange deviation is generally absorbed by receiver clock error and ionospheric parameters.

[0105] δ r,j and Phase deviation is generally absorbed by the undifference ambiguity parameters.

[0106] The ambiguity is estimated as a parameter.

[0107] ε P,i,j and ε L,i,j The observation noise and multipath effects are weakened by appropriate random models. The parameters are processed and linearized according to the above processing strategy:

[0108]

[0109]

[0110] In the formula, is the direction cosine, dx ,i is the three-dimensional position increment relative to the initial coordinates, is the projection function of the tropospheric wet component, ZWD r Zenith tropospheric wet component delay, where

[0111]

[0112] In the formula,

[0113]

[0114] The above non-differential non-combined PPP method can be used to extract STEC (including DCBs at the satellite and receiver ends), and then subtract the DCB at the satellite end to obtain STEC containing only the DCB at the receiver end (using express).

[0115] The total electron content of the oblique ionosphere obtained above is and instrument bias term DCB r,P1P2The ionospheric thin layer model combined with the corresponding projection function can be used for effective separation. This model assumes that the ionosphere is distributed in a thin layer at a certain height (450km) from the surface of the earth, and projects the oblique ionospheric total electron content to the vertical ionospheric total electron content VTEC at the puncture point (the intersection of the station-satellite line of sight and the thin layer):

[0116]

[0117] Where R is the radius of the earth, H is the height of the thin layer (taken as 450km), and z and z′ are the zenith distances of the satellite at the receiver and the puncture point, respectively.

[0118] The quadratic polynomial model is used to fit the total electron content of the vertical ionosphere at a single station:

[0119] VTEC=a 00 (t)+a 10 (t)·x+a 01 (t)·y (11)

[0120] In the formula, t represents the observation time, x = (λ IPP -λ R )·cos(φ),y=μ IPP -μ R , λ and φ represent geographic longitude and latitude, μ represents geomagnetic latitude, subscripts ipp and R represent puncture point and station, respectively. The ionosphere changes slowly. In a short time (2.5 min), assuming a 00 ,a 10 ,a 01 is a constant.

[0121] Therefore, the equation for separating the total electron content of the oblique ionosphere and the station instrument bias is:

[0122]

[0123] Using formula 12, the DCB at the receiver can be calculated, and the estimated STEC of the oblique ionosphere is for:

[0124]

[0125] On this basis, the integrity protection level PL is calculated. For a certain integrity monitoring area, assuming that there are n monitoring stations monitoring the satellite s, the corresponding integrity protection level is Will Compared with the first threshold, if is greater than the first threshold, the first integrity monitoring flag indicates unavailable; if Not greater than the first threshold, the first integrity monitoring mark indicates that it is available, and the first integrity monitoring marks corresponding to all monitoring stations are:

[0126]

[0127] In the above embodiment, based on the regional ionospheric correction number, the difference between the STEC estimation value and the STEC model value is obtained, and the integrity protection level of the monitoring station is determined according to the relationship between the difference and the integrity protection level. The integrity of the regional ionospheric correction number of the monitoring station is marked by the relationship between the integrity protection level and the first threshold, and the first integrity monitoring mark of the monitoring station is obtained, thereby completing the marking of the integrity of the regional ionospheric correction number of the monitoring station.

[0128] In some embodiments, in order to detect the integrity of the entire integrity monitoring area, the integrity monitoring result of the entire area is obtained. In the case where the integrity monitoring result includes the integrity monitoring result of the entire area, step S13 determines the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, including:

[0129] Step S131a, obtaining an adjacent monitoring station whose distance to the integrity monitoring area is less than a preset distance.

[0130] Here, the adjacent monitoring station refers to a monitoring station adjacent to the integrity monitoring area. The regional ionospheric correction integrity monitoring device can search for an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance, and obtain information of the adjacent monitoring station.

[0131] Step S132a: Determine the integrity monitoring result of the entire integrity monitoring area according to the first integrity monitoring identifier of the adjacent monitoring station.

[0132] Here, the integrity monitoring result of the whole area can indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. The regional ionospheric correction number integrity monitoring device can obtain the first integrity monitoring identification of all adjacent monitoring stations in the integrity monitoring area, and determine the integrity monitoring result of the whole area of ​​the integrity monitoring area according to the first integrity monitoring identification of the adjacent monitoring station.

[0133] In some embodiments, when the first integrity monitoring identification of the adjacent monitoring station indicates that it is unavailable, it is determined that the integrity monitoring result of the entire integrity monitoring zone indicates that it has failed.

[0134] Here, the regional ionospheric correction number integrity monitoring device can determine that the integrity monitoring result of the entire area of ​​the integrity monitoring area indicates failure based on the first integrity monitoring identification indication of the adjacent monitoring station in the integrity monitoring area that is unavailable. The failure indication of the integrity monitoring result of the entire area indicates that the regional ionospheric correction number integrity of the integrity monitoring area should be unavailable. In addition, the failure indication of the integrity monitoring result of the entire area can indicate that the integrity inspection of the entire area of ​​the integrity monitoring area is successful.

[0135] In some embodiments, when the first integrity monitoring identification of the adjacent monitoring station indicates that it is available, it is determined that the integrity monitoring result of the entire integrity monitoring area indicates that it is unknown.

[0136] Here, the regional ionospheric correction number integrity monitoring device determines that the integrity monitoring result of the entire area of ​​the integrity monitoring area indicates unknown based on the first integrity monitoring identification indication of the adjacent monitoring station in the integrity monitoring area. The indication of the integrity monitoring result of the entire area is unknown, which can indicate to a certain extent that the integrity of the regional ionospheric correction number of the integrity monitoring area is unknown. In addition, the indication of the integrity monitoring result of the entire area is unknown, indicating that the integrity inspection of the entire area of ​​the integrity monitoring area is unsuccessful.

[0137] Compared with using the result of the worst monitoring station as the integrity monitoring result of the integrity monitoring area, in the above embodiment, the integrity monitoring of the entire integrity monitoring area is completed by judging the first integrity monitoring mark of the monitoring station adjacent to the integrity monitoring area, so that the integrity monitoring result of the entire area can be obtained to indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. In this way, the false alarm rate of the integrity monitoring of the regional ionospheric correction number is reduced, and the availability of the regional ionospheric correction number is improved under the premise of ensuring the integrity risk index.

[0138] In some embodiments, in order to detect the integrity of a sub-area of ​​the integrity monitoring area and obtain the integrity monitoring result of the sub-area, when the integrity monitoring result includes the integrity monitoring result of the sub-area, step S13 determines the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, including:

[0139] Step S131b: Count the number of unavailable monitoring stations in all integrity monitoring sub-areas within the integrity monitoring area.

[0140] Here, the integrity monitoring sub-area refers to a portion of the integrity monitoring area divided from the integrity monitoring area. Unavailable monitoring stations include monitoring stations indicated as unavailable by the first integrity monitoring mark. The regional ionospheric correction number integrity monitoring device can divide the integrity monitoring area into integrity monitoring sub-areas according to the latitude and longitude range. The regional ionospheric correction number integrity monitoring device counts the number of monitoring stations indicated as unavailable by the first integrity monitoring mark in each integrity monitoring sub-area.

[0141] In some embodiments, the regional ionospheric correction number integrity monitoring device may divide the integrity monitoring into a plurality of integrity monitoring sub-areas according to a second preset distance.

[0142] In some embodiments, the regional ionospheric correction integrity monitoring device may divide the integrity monitoring into a plurality of integrity monitoring sub-areas according to a threshold value of a minimum number of monitoring stations.

[0143] In some embodiments, the regional ionospheric correction integrity monitoring device may divide the integrity monitoring into a plurality of integrity monitoring sub-areas according to a second preset distance and a threshold value of a minimum number of monitoring stations.

[0144] Step S132b: Determine the integrity monitoring results of the sub-areas of the integrity monitoring area according to the number of unavailable monitoring stations.

[0145] Here, the sub-area integrity monitoring result can indicate whether the regional ionospheric correction number integrity in the integrity monitoring area is available. The regional ionospheric correction number integrity monitoring device determines the sub-area integrity monitoring result of the integrity monitoring area according to the number of unavailable indications of the first integrity monitoring identifier in each integrity monitoring sub-area.

[0146] In some embodiments, when the number of unavailable monitoring stations in the integrity monitoring zone is a first value, it is determined that the integrity monitoring result of the sub-zone of the integrity monitoring zone indicates a pass.

[0147] Here, the regional ionospheric correction number integrity monitoring device obtains that the number of unavailable monitoring stations in the integrity monitoring area meets the first preset condition, and determines that the integrity monitoring result of the sub-area of ​​the integrity monitoring area indicates a pass. The first preset condition may include that the number of unavailable monitoring stations in the integrity monitoring area is a first value.

[0148] For example, the regional ionospheric correction number integrity monitoring device determines that the number of unavailable monitoring stations in the integrity monitoring area is a first value, and obtains a sub-area integrity monitoring result indication of a pass in the integrity monitoring area.

[0149] The sub-area integrity monitoring result of the integrity monitoring area indicates passed, indicating that the first integrity monitoring identifier of the integrity monitoring area is available. In addition, the sub-area integrity monitoring result of the integrity monitoring area indicates passed, indicating that the integrity inspection of the sub-area of ​​the integrity monitoring area is successful.

[0150] In some embodiments, when the number of unavailable monitoring stations in at least one integrity monitoring sub-area is greater than a second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates a failure.

[0151] Here, the second value is greater than the first value. The regional ionospheric correction number integrity monitoring device counts the number of unavailable monitoring stations in the integrity monitoring area to meet the second preset condition, and determines that the sub-area integrity monitoring result of the integrity monitoring area indicates failure. The second preset condition may include that the number of unavailable monitoring stations in the integrity monitoring area is greater than the second value.

[0152] For example, the regional ionospheric correction number integrity monitoring device counts that the total number of unavailable monitoring stations in each integrity monitoring sub-area is greater than a second value, and determines that the sub-area integrity monitoring result of the integrity monitoring area indicates failure.

[0153] Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates failure, which means that the regional ionospheric correction number integrity of the integrity monitoring area is unavailable. In addition, the sub-area integrity monitoring result of the integrity monitoring area indicates failure, which also means that the sub-area integrity inspection of the integrity monitoring area is successful.

[0154] In some embodiments, when the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than a second value and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown.

[0155] Here, the regional ionospheric correction number integrity monitoring device counts the number of unavailable monitoring stations in each integrity monitoring sub-area to meet the third preset condition, and determines that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown. The third preset condition may include that the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than the second value, and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value.

[0156] For example, the regional ionospheric correction number integrity monitoring device counts that the number of unavailable monitoring stations in each integrity monitoring sub-area is no more than a second value, and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value, and determines that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown.

[0157] Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates unknown, indicating that the integrity inspection of the sub-area of ​​the integrity monitoring area is unsuccessful. The regional ionospheric correction number of the integrity monitoring area is unknown and may require other monitoring methods for inspection.

[0158] Compared with using the result of the worst monitoring station as the integrity monitoring result of the integrity monitoring area, in the above embodiment, the sub-area integrity detection of the integrity monitoring area is completed by judging the number of unavailable monitoring in the integrity monitoring sub-area, so as to judge whether the regional ionosphere integrity of the integrity monitoring area is available by the obtained sub-area integrity monitoring result. In this way, the false alarm rate of the integrity monitoring of the regional ionosphere correction number can be reduced, and the availability rate of the regional ionosphere correction number can be improved under the premise of ensuring the integrity risk index.

[0159] In some embodiments, in order to detect the ROTI value of the integrity monitoring area, an index integrity monitoring result is obtained. In the case where the integrity monitoring result includes the integrity monitoring result of the entire area, step S13 determines the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, including:

[0160] Step S131c, calculating the ROTI value of the unavailable monitoring station within a preset time period based on the observation value of the unavailable monitoring station in the integrity monitoring area.

[0161] Here, the ROTI value is the ionospheric TEC change rate index, and is also an effective parameter for ionospheric scintillation research. The unavailable monitoring station includes a monitoring station indicated by the first integrity monitoring mark as unavailable. The regional ionospheric correction number integrity monitoring device calculates the TEC value of the unavailable monitoring station within a preset time period through the observation value of the unavailable monitoring station in the integrity monitoring area. The regional ionospheric correction number integrity monitoring device determines the rate of change ROT of TEC for a preset time interval based on the TEC value of the unavailable monitoring station within the preset time period, and obtains the ROTI value of the unavailable monitoring station within the preset time period by calculating the standard deviation of ROT within the preset time period.

[0162] Step S132c: Determine the exponential integrity monitoring result in the integrity monitoring area according to the comparison result of the ROTI value and the second threshold value.

[0163] Here, the regional ionospheric correction integrity monitoring device compares the ROTI value of the unavailable monitoring station with the second threshold value, and determines the index integrity monitoring result within the integrity monitoring area based on the comparison result.

[0164] In some embodiments, when the comparison result is that the ROTI value is greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring zone indicates a failure.

[0165] Here, the regional ionospheric correction integrity monitoring device determines that the comparison result of the ROTI value of the unavailable monitoring station and the second threshold value meets the fourth preset condition, and determines that the index integrity monitoring result of the integrity monitoring area indicates failure. The fourth preset condition may include that the ROTI value of the unavailable monitoring station is greater than the second threshold value.

[0166] For example, the regional ionospheric correction integrity monitoring device determines that the ROTI value of the unavailable monitoring station is greater than the second threshold value, and determines that the exponential integrity monitoring result of the integrity monitoring area indicates failure.

[0167] Among them, the index integrity monitoring result of the integrity monitoring area indicates failure, which means that the integrity monitoring area is unavailable.

[0168] When the comparison result is that the ROTI value of the unavailable monitoring station is not greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring area indicates a pass.

[0169] Here, the regional ionospheric correction number integrity monitoring device determines that the comparison result of the ROTI value of the unavailable monitoring station and the second threshold value meets the fifth preset condition, and determines that the index integrity monitoring result of the integrity monitoring area indicates a pass. The fifth preset condition may include that the ROTI value of the unavailable monitoring station is not greater than the second threshold value.

[0170] For example, the regional ionospheric correction integrity monitoring device determines that the ROTI value of the unavailable monitoring station is not greater than the second threshold value, and determines that the exponential integrity monitoring result of the integrity monitoring area indicates a pass.

[0171] Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates a pass, indicating that the integrity of the regional ionospheric correction number in the integrity monitoring area is available.

[0172] Compared with using the result of the worst monitoring station as the integrity monitoring result of the integrity monitoring area, in the above embodiment, the ROTI value monitoring of the integrity monitoring area is completed by comparing the ROTI value of the unavailable monitoring station in the integrity monitoring area with the second threshold value, so as to judge whether the regional ionospheric correction number integrity of the integrity monitoring area is available by obtaining the index integrity monitoring result. Therefore, by judging the reason for the unavailability of the integrity of the monitoring station, the unavailable monitoring stations caused by poor observation data can be reduced, thereby reducing the false alarm rate of the integrity monitoring of the regional ionospheric correction number, and under the premise of ensuring the integrity risk index, the availability of the regional ionospheric correction number is improved.

[0173] In some embodiments, in order to further reduce the false alarm rate of the integrity monitoring of the regional ionospheric correction number in the integrity monitoring area, the integrity monitoring area may be subjected to the integrity monitoring area integrity detection and ROTI detection. In the case where the integrity monitoring result includes the integrity monitoring result of the entire area and the index integrity monitoring result, step S13 determines the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, including:

[0174] Step S131d, obtaining an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance. Here, the adjacent monitoring station refers to a monitoring station adjacent to the integrity monitoring area. The regional ionospheric correction integrity monitoring device can search for an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance, and obtain information about the adjacent monitoring station.

[0175] Step S132d: Determine the integrity monitoring result of the entire integrity monitoring area according to the first integrity monitoring identifier of the adjacent monitoring station.

[0176] The integrity monitoring result of the whole area can indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. The regional ionospheric correction number integrity monitoring device can obtain the first integrity monitoring identification of all adjacent monitoring stations in the integrity monitoring area, and determine the integrity monitoring result of the whole area of ​​the integrity monitoring area according to the first integrity monitoring identification of the adjacent monitoring station.

[0177] In some embodiments, when the first integrity monitoring identification of the adjacent monitoring station indicates that it is unavailable, it is determined that the integrity monitoring result of the entire integrity monitoring zone indicates that it has failed.

[0178] When the first integrity monitoring identification indications of all adjacent monitoring stations are available, it is determined that the entire area integrity monitoring result indication of the first area is unknown.

[0179] Step S133d, when the integrity monitoring result of the entire area indicates unknown, the ROTI value of the unavailable monitoring station within the preset time period is calculated based on the observation value of the unavailable monitoring station in the integrity monitoring area.

[0180] Here, the regional ionospheric correction number integrity monitoring device detects the ROTI value of the unavailable monitoring station in the integrity monitoring area when the integrity monitoring result of the whole area indicates unknown, so as to reduce the misjudgment of the integrity monitoring result of the integrity monitoring area caused by the unavailable monitoring station due to poor data quality or local ionization anomaly. The ROTI value is the ionospheric TEC change rate index and is also an effective parameter for ionospheric scintillation research. The unavailable monitoring station includes the monitoring station indicated as unavailable by the first integrity monitoring mark. The regional ionospheric correction number integrity monitoring device calculates the TEC value of the unavailable monitoring station within the preset time period through the observation value of the unavailable monitoring station in the integrity monitoring area. The regional ionospheric correction number integrity monitoring device determines the rate of change ROT of TEC in the preset time interval based on the TEC value of the unavailable monitoring station in the preset time period, and obtains the ROTI value of the unavailable monitoring station in the preset time period by calculating the standard deviation of ROT in the preset time period.

[0181] Step S132c: Determine the exponential integrity monitoring result in the integrity monitoring area according to the comparison result of the ROTI value and the second threshold value.

[0182] Here, the regional ionospheric correction integrity monitoring device compares the ROTI value of the unavailable monitoring station with the second threshold value, and determines the index integrity monitoring result within the integrity monitoring area based on the comparison result.

[0183] In some embodiments, when the comparison result is that the ROTI value is greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring zone indicates a failure.

[0184] When the comparison result is that the ROTI value of the unavailable monitoring station is not greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring area indicates a pass.

[0185] In the above embodiment, by performing integrity detection and ROTI detection on the integrity monitoring area, the false alarm rate of the integrity monitoring of the regional ionospheric correction number in the integrity monitoring area can be further reduced, and the availability of the regional ionospheric correction number can be improved while ensuring the integrity risk index.

[0186] In some embodiments, since the integrity monitoring area is relatively large, in order to further reduce the false alarm rate of the regional ionospheric correction number integrity monitoring in the integrity monitoring area, the integrity monitoring area may be subjected to whole-area integrity monitoring, sub-area integrity monitoring and ROTI detection. In the case where the integrity monitoring result includes the whole-area integrity monitoring result, the sub-area integrity monitoring result and the index monitoring result, step S13 determines the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area, including:

[0187] Step S131e, obtaining an adjacent monitoring station whose distance to the integrity monitoring area is less than a preset distance.

[0188] Here, the adjacent monitoring station refers to a monitoring station adjacent to the integrity monitoring area. The regional ionospheric correction integrity monitoring device can search for an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance, and obtain information of the adjacent monitoring station.

[0189] Step S132e: Determine the integrity monitoring result of the entire integrity monitoring area according to the first integrity monitoring identifier of the adjacent monitoring station.

[0190] Here, the integrity monitoring result of the whole area can indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. The regional ionospheric correction number integrity monitoring device can obtain the first integrity monitoring identification of all adjacent monitoring stations in the integrity monitoring area, and determine the integrity monitoring result of the whole area of ​​the integrity monitoring area according to the first integrity monitoring identification of the adjacent monitoring station.

[0191] In some embodiments, when the first integrity monitoring identification of the adjacent monitoring station indicates that it is unavailable, it is determined that the integrity monitoring result of the entire integrity monitoring zone indicates that it has failed.

[0192] In some embodiments, when the first integrity monitoring identification of the adjacent monitoring station indicates that it is available, it is determined that the integrity monitoring result of the entire integrity monitoring area indicates that it is unknown.

[0193] Step S133e: when the integrity monitoring result of the entire area indicates unknown, count the number of unavailable monitoring stations in all integrity monitoring sub-areas within the integrity monitoring area.

[0194] Here, when the integrity monitoring result of the whole area indicates unknown, the regional ionospheric correction number integrity monitoring device performs sub-area integrity detection on the integrity monitoring area. Thereby reducing the false alarm rate of the regional ionospheric correction number integrity monitoring when the integrity monitoring range is relatively large. The integrity monitoring sub-area refers to a part of the integrity monitoring area divided from the integrity monitoring area. Unavailable monitoring stations include monitoring stations whose first integrity monitoring mark indicates unavailable. The regional ionospheric correction number integrity monitoring device can divide the integrity monitoring area into integrity monitoring sub-areas according to the latitude and longitude range. The regional ionospheric correction number integrity monitoring device counts the number of monitoring stations whose first integrity monitoring mark indicates unavailable in each integrity monitoring sub-area.

[0195] Step S134e: Determine the integrity monitoring results of the sub-areas of the integrity monitoring area according to the number of unavailable monitoring stations.

[0196] Here, the sub-area integrity monitoring result can indicate whether the first integrity monitoring mark in the integrity monitoring area is available. The regional ionospheric correction number integrity monitoring device determines the sub-area integrity monitoring result of the integrity monitoring area according to the number of unavailable first integrity monitoring marks in each integrity monitoring sub-area.

[0197] In some embodiments, when the number of unavailable monitoring stations in the integrity monitoring zone is a first value, it is determined that the integrity monitoring result of the sub-zone of the integrity monitoring zone indicates a pass.

[0198] In some embodiments, when the number of unavailable monitoring stations in at least one integrity monitoring sub-area is greater than a second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates a failure.

[0199] In some embodiments, when the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than a second value and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown.

[0200] Step S135e, when the sub-area integrity monitoring result indicates unknown, the ROTI value of the unavailable monitoring station within the preset time period is calculated based on the observation value of the unavailable monitoring station in the integrity monitoring area.

[0201] Here, the regional ionospheric correction integrity monitoring device performs ROTI value detection on unavailable monitoring stations in the integrity detection sub-area when the sub-area integrity monitoring result indicates unknown, thereby reducing the misjudgment of the integrity monitoring result of the integrity monitoring area caused by unavailable monitoring stations due to poor data quality or local ionization anomalies.

[0202] Here, the ROTI value is the ionospheric TEC change rate index, and is also an effective parameter for ionospheric scintillation research. The unavailable monitoring station includes a monitoring station indicated by the first integrity monitoring mark as unavailable. The regional ionospheric correction number integrity monitoring device calculates the TEC value of the unavailable monitoring station within a preset time period through the observation value of the unavailable monitoring station in the integrity monitoring area. The regional ionospheric correction number integrity monitoring device determines the rate of change ROT of TEC for a preset time interval based on the TEC value of the unavailable monitoring station within the preset time period, and obtains the ROTI value of the unavailable monitoring station within the preset time period by calculating the standard deviation of ROT within the preset time period.

[0203] Step S136e: Determine the exponential integrity monitoring result in the integrity monitoring area according to the comparison result between the ROTI value and the second threshold value.

[0204] Here, the regional ionospheric correction integrity monitoring device compares the ROTI value of the unavailable monitoring station with the second threshold value, and determines the index integrity monitoring result within the integrity monitoring area based on the comparison result.

[0205] In some embodiments, when the comparison result is that the ROTI value is greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring zone indicates a failure.

[0206] When the comparison result is that the ROTI value of the unavailable monitoring station is not greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring area indicates a pass.

[0207] In the above embodiment, by performing whole-area integrity detection, sub-area integrity detection and ROTI detection on the integrity monitoring area, the false alarm rate of the integrity monitoring of the regional ionospheric correction number in the integrity monitoring area can be further reduced when the integrity monitoring area is large, and the availability of the regional ionospheric correction number is improved while ensuring the integrity risk index.

[0208] In some embodiments, in order to identify the integrity of the regional ionospheric correction number in the integrity monitoring area, the integrity monitoring result may include a second integrity monitoring identifier, and the second integrity monitoring identifier is used to indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available.

[0209] Here, the regional ionospheric correction integrity monitoring device marks the integrity of the regional ionospheric correction number in the integrity monitoring area, and obtains a second integrity monitoring mark so as to visually observe the integrity monitoring result. The second integrity monitoring mark may include a third mark and a fourth mark. The third mark is used to indicate that the integrity of the regional ionospheric correction number in the integrity monitoring area is not available. The fourth mark indicates that the integrity of the regional ionospheric correction number in the integrity monitoring area is not available.

[0210] In some embodiments, when the index integrity monitoring result or the sub-area integrity monitoring result indicates a pass, the second integrity monitoring identifier that identifies the integrity monitoring area is the third identifier.

[0211] In some embodiments, when the integrity monitoring result indicates a failure, the second integrity monitoring identifier identifying the integrity monitoring area is the fourth identifier.

[0212] In some embodiments, step S14, outputting and broadcasting the integrity monitoring results of the integrity monitoring area includes:

[0213] When the integrity monitoring result indicates a pass or a fail, the integrity monitoring result is output and broadcast.

[0214] Here, when the regional ionospheric correction integrity monitoring device determines that the integrity monitoring result of the integrity monitoring area indicates a pass or fail, the integrity monitoring result of the integrity monitoring area is directly output, and the regional ionospheric integrity monitoring result can also be broadcast at fixed time intervals.

[0215] In some embodiments, in order to promptly broadcast the situation where the integrity monitoring result indicates a failure, step S14, outputting and broadcasting the integrity monitoring result of the integrity monitoring area includes:

[0216] The fourth identifier may be an alarm identifier. When the integrity monitoring result indicates a failure, a second integrity monitoring identifier indicating an alarm is added, and the second integrity monitoring identifier is broadcast using broadcast logic.

[0217] Here, the regional ionospheric correction number integrity monitoring device adds a second integrity monitoring mark indicating an alarm when determining that the integrity monitoring result indicates a failure. Whenever the second integrity monitoring mark indicating an alarm appears, the regional ionospheric correction number integrity monitoring device immediately starts the broadcast logic to broadcast the second integrity monitoring mark indicating an alarm. In this way, the integrity monitoring result indicating a failure can be broadcast in a timely manner.

[0218] In order to further deepen the understanding of the working principle of the regional ionospheric correction number integrity monitoring method of the present application, another aspect of the present application embodiment provides a regional ionospheric correction number integrity monitoring method. Figure 2 FIG. 1 is a flow chart of another method for monitoring the integrity of regional ionospheric correction numbers provided in an embodiment of the present application. Figure 2 The specific implementation of the regional ionospheric correction number integrity monitoring method provided by the present application is described in detail. It should be noted that the following specific implementation method detects the integrity of the entire area, the integrity of the sub-area and the ROTI value of the integrity monitoring area, so as to obtain the integrity monitoring result of the integrity monitoring area. In this way, the regional ionospheric correction number integrity monitoring method provided in the following embodiments is described by taking the inspection of the integrity of the entire area, the integrity of the sub-area and the ROTI value of the integrity monitoring area as an example. The regional ionospheric correction number integrity monitoring method includes the following steps:

[0219] Step S21, obtaining regional ionospheric correction data.

[0220] Here, the regional ionospheric correction number integrity monitoring device obtains the regional ionospheric correction number of the monitoring station in the integrity monitoring area, and starts to monitor the integrity of the regional ionospheric correction number based on the regional ionospheric correction number.

[0221] In addition, the regional ionospheric correction integrity monitoring device also obtains orbital clock corrections, satellite DCB corrections, UPD corrections, broadcast ephemeris and observation data of monitoring stations within the integrity monitoring area.

[0222] Step S22: Calculate the integrity protection level and the first integrity monitoring identifier of all monitoring stations in the integrity monitoring area.

[0223] Here, the first integrity monitoring identifier includes a regional ionospheric correction integrity monitoring identifier. It is used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available. The regional ionospheric correction number integrity monitoring device uses the non-difference non-combined PPP solution to calculate the STEC estimate value, and uses the regional ionospheric correction number to calculate the corresponding STEC model value. According to the STEC estimates and model STEC values ​​of multiple consecutive epochs, the integrity protection level corresponding to the monitoring station is calculated. The integrity protection level corresponding to the monitoring station is compared with the first threshold. When the integrity protection level is greater than the first threshold, the first integrity monitoring identifier of the monitoring station indicates unavailable. When the integrity protection level is less than the first threshold, the first integrity monitoring identifier of the monitoring station indicates available.

[0224] For example, the protection level can be represented by PL. For a certain integrity monitoring area, assuming that there are n monitoring stations monitoring satellite s, the regional ionospheric correction integrity monitoring device calculates the corresponding integrity protection level based on the mapping relationship between the difference between the STEC model value and the STEC estimated value and the integrity protection level:

[0225] It should be noted that the method for calculating the STEC estimated value and the STEC model value in the embodiment of the present application is the same as that for calculating the STEC estimated value and the STEC model value in the aforementioned embodiment, and will not be described in detail here.

[0226] Step S23, perform integrity detection on the integrity monitoring area. If the detection is unsuccessful, proceed to step S24. If the detection is successful, proceed to step S26.

[0227] Here, the regional ionospheric correction number integrity monitoring device obtains the integrity monitoring result of the entire area according to whether the first integrity monitoring flag of the monitoring station adjacent to the integrity monitoring area indicates unavailable, thereby determining whether the integrity of the regional ionospheric correction number is available and whether the integrity detection of the entire area is successful.

[0228] If the first integrity monitoring mark of an adjacent monitoring station indicates unavailable, it is determined that the integrity monitoring result of the entire area indicates failure, and the integrity detection of the entire area is successful. In addition, when the integrity monitoring result of the entire area indicates failure, a second integrity monitoring mark indicating an alarm is added. Among them, the second integrity monitoring mark is used to indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. When the second integrity monitoring mark indicates unavailable, the second integrity monitoring mark also indicates an alarm.

[0229] If there is no situation where the first integrity monitoring indicator of the adjacent monitoring station indicates unavailable, it is determined that the integrity monitoring result of the entire area indicates unknown, and the integrity detection of the entire area is unsuccessful. Therefore, there may still be a certain risk to the integrity of the regional ionospheric correction number in the integrity monitoring area, and a sub-area integrity detection is required.

[0230] Step S24, perform sub-area integrity detection on the integrity monitoring area. If the detection is unsuccessful, proceed to step S25. If the detection is successful, proceed to step S26.

[0231] Here, the regional ionospheric correction number integrity monitoring device divides the integrity monitoring area into integrity monitoring sub-areas according to the latitude and longitude range of the integrity monitoring area, counts the number of monitoring stations in each integrity monitoring sub-area indicated as unavailable by the first integrity monitoring identifier, and determines whether the sub-area integrity detection is successful based on the number of monitoring stations.

[0232] If the first integrity monitoring identifiers of all integrity monitoring sub-areas indicate that the number of unavailable monitoring stations meets the first preset condition, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates a pass, indicating that the sub-area integrity detection of the area is successful.

[0233] If the number of unavailable monitoring stations indicated by the first integrity monitoring mark of at least one integrity monitoring sub-area meets the second preset condition, the sub-area integrity monitoring result of the integrity monitoring area is determined to indicate failure, indicating that the sub-area integrity detection of the area is successful. In addition, an integrity monitoring mark of an alarm is added.

[0234] In addition, other situations are unsuccessful detection. For example, if the number of unavailable monitoring stations in each integrity monitoring sub-area meets the third preset condition, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown, indicating that the sub-area integrity detection of the area is unsuccessful.

[0235] Step S25: performing ROTI calculation and ROTI detection on the monitoring station indicated as unavailable by the first integrity monitoring indicator.

[0236] Here, if the sub-region integrity detection in step S24 is unsuccessful, the regional ionospheric correction number integrity monitoring device performs ROTI calculation on all monitoring stations indicated as unavailable by the first integrity monitoring identifier, and performs ROTI detection based on the ROTI calculation results.

[0237] If the ROTI test results of all monitoring stations indicated as unavailable by the first integrity monitoring identifier pass, it is determined that the index integrity monitoring result of the integrity monitoring area indicates a pass. If the ROTI test result of at least one monitoring station indicated as unavailable by the first integrity monitoring identifier fails, it is determined that the index integrity monitoring result of the integrity monitoring area indicates a failure. In addition, when the index integrity monitoring result indicates a failure, a second integrity monitoring identifier indicating an alarm is added.

[0238] Step S26: output and broadcast the integrity monitoring results of the integrity monitoring area.

[0239] Here, when the integrity monitoring results of the entire area, the sub-area integrity monitoring results or the index integrity monitoring results indicate failure, the regional ionospheric correction number integrity monitoring device outputs and broadcasts the integrity monitoring results.

[0240] When the sub-area integrity monitoring results or the index integrity monitoring results indicate a pass, the regional ionospheric correction number integrity monitoring device outputs and broadcasts the integrity monitoring results.

[0241] In addition, the integrity monitoring result includes at least one of the integrity monitoring result of the whole area, the integrity monitoring result of the sub-area and the index integrity monitoring result. The regional ionospheric correction number integrity monitoring device can also broadcast the integrity monitoring result of the regional ionospheric correction number at fixed time intervals. For example, the regional ionospheric correction number integrity monitoring device broadcasts the regional ionospheric correction number integrity monitoring result every 10 seconds.

[0242] In some embodiments, in order to promptly broadcast the integrity monitoring result indicating failure, when an integrity monitoring indicator indicating an alarm appears, a second integrity monitoring indicator indicating an alarm is broadcast using broadcast logic.

[0243] Figure 3 Schematic diagram of the method flow of the whole-area integrity detection, sub-area integrity detection and ROTI detection of the integrity monitoring area in the embodiment of the present application.

[0244] The following is combined with Figure 3 The specific implementation methods of the integrity detection of the entire area, the sub-area integrity detection and the ROTI value detection method of the integrity monitoring area in steps S23 to S25 provided in this application are described in detail.

[0245] Step S31, obtaining the integrity protection level and the first integrity monitoring identifier of all monitoring stations in the integrity monitoring area.

[0246] Here, the method of obtaining the integrity protection level and the first integrity monitoring mark in step S31 is the same as step S22 of the aforementioned embodiment, and will not be repeated here.

[0247] Step S32: Based on the first integrity monitoring mark, perform integrity detection on the entire integrity monitoring area. If the detection is unsuccessful, proceed to step S33. If the detection is successful, proceed to step S35.

[0248] Here, the regional ionospheric correction number integrity monitoring device searches for an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance, and obtains a first integrity identifier of the adjacent monitoring station.

[0249] The regional ionospheric correction number integrity monitoring device determines that the integrity monitoring result of the entire area of ​​the integrity monitoring area indicates failure based on the first integrity monitoring indicator of the adjacent monitoring station indicating unavailable. The failure of the integrity monitoring result of the entire area indicates that the integrity of the regional ionospheric correction number of the integrity monitoring area should be unavailable. In addition, the failure of the integrity monitoring result of the entire area can indicate that the integrity inspection of the entire area of ​​the integrity monitoring area is successful.

[0250] The regional ionospheric correction number integrity monitoring device determines that the integrity monitoring result of the entire area of ​​the integrity monitoring area indicates unknown based on the first integrity monitoring identification indication of all adjacent monitoring stations. The indication of unknown for the integrity monitoring result of the entire area may indicate that there is still a certain risk in the integrity of the regional ionospheric correction number of the integrity monitoring area, and other detection methods are required to verify the first integrity monitoring identification. In addition, the indication of unknown for the integrity monitoring result of the entire area may indicate that the integrity inspection of the entire area of ​​the integrity monitoring area is unsuccessful.

[0251] Step S33, perform sub-area integrity detection on the integrity monitoring area. If the detection is unsuccessful, proceed to step S34. If the detection is successful, proceed to step S35.

[0252] Here, the regional ionospheric correction number integrity monitoring device counts the number of unavailable monitoring stations in all integrity monitoring sub-areas in the integrity monitoring area. According to the number of unavailable monitoring stations, the integrity monitoring results of the sub-areas of the integrity monitoring area are determined. The unavailable monitoring stations include monitoring stations indicated as unavailable by the first integrity monitoring identifier.

[0253] The regional ionospheric correction number integrity monitoring device obtains that the number of unavailable monitoring stations in the integrity monitoring area meets the first preset condition, and determines that the integrity monitoring result of the sub-area of ​​the integrity monitoring area indicates a pass. The first preset condition may include that the number of unavailable monitoring stations in the integrity monitoring area is a first value. Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates a pass, indicating that the integrity of the regional ionospheric correction number of the integrity monitoring area is available. In addition, the sub-area integrity monitoring result of the integrity monitoring area indicates a pass, indicating that the integrity inspection of the sub-area of ​​the integrity monitoring area is successful.

[0254] The regional ionospheric correction number integrity monitoring device counts the number of unavailable monitoring stations in the integrity monitoring area to meet the second preset condition, and determines that the sub-area integrity monitoring result of the integrity monitoring area indicates failure. The second preset condition may include that the number of unavailable monitoring stations in the integrity monitoring area is greater than a second value. Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates failure, indicating that the regional ionospheric correction number integrity of the integrity monitoring area is unavailable. In addition, the sub-area integrity monitoring result of the integrity monitoring area indicates failure, which also indicates that the sub-area integrity inspection of the integrity monitoring area is successful.

[0255] The regional ionospheric correction number integrity monitoring device counts the number of unavailable monitoring stations in each integrity monitoring sub-area that meets the third preset condition, and determines that the sub-area integrity monitoring result indication of the integrity monitoring area is unknown. The third preset condition may include that the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than the second value, and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value. Among them, the sub-area integrity monitoring result indication of the integrity monitoring area is unknown, indicating that the sub-area integrity inspection of the integrity monitoring area is unsuccessful. There is still a certain risk in the integrity of the regional ionospheric correction number of the integrity monitoring area, and other monitoring methods may be required for inspection.

[0256] For example, taking the first value as 0 and the second value as 1 as an example, the integrity inspection of the sub-area of ​​the integrity monitoring area is explained. When a certain integrity monitoring area is large, it is necessary to divide the integrity monitoring sub-areas according to the latitude and longitude range of the integrity monitoring area and the density of the monitoring stations. The specific division method needs to be determined according to the actual monitoring task. The main principles include two aspects: one is to determine the minimum area threshold MIN_AREA of the integrity monitoring sub-area according to the monitoring task, and the other is to determine the minimum monitoring station threshold MIN_STA for each integrity monitoring sub-area. According to the two thresholds, the integrity monitoring area with a larger range can be divided into integrity monitoring sub-areas. The following takes an area of ​​400km*400km, where the distance between adjacent monitoring stations is approximately 50km, as an example. Assume that MIN_AREA is 400km 2, MIN_STA is 10, then the monitoring area can be divided into 4 sub-areas, and then the number of monitoring stations in each integrity monitoring sub-area that are indicated as unavailable by the first integrity monitoring identifier is counted. The monitoring station whose first integrity monitoring identifier indicates unavailable is called an unavailable monitoring station. According to the preset conditions satisfied by the number, it is judged whether the inspection is successful, and the preset conditions for the judgment are: the first preset condition includes that the number of unavailable indications of the first integrity monitoring identifier of all integrity monitoring sub-areas is 0. The second preset condition includes that the number of unavailable indications of the first integrity monitoring identifier of at least one integrity monitoring sub-area is greater than 1. The third preset condition includes: the number of unavailable indications of the first integrity monitoring identifier of all integrity monitoring sub-areas is not greater than 1, and the number of unavailable indications of the first integrity monitoring identifier of at least one integrity monitoring sub-area is 1.

[0257] Figure 4A Schematic diagram of unavailable monitoring stations in the integrity monitoring sub-area in the embodiment of the present application Figure 1 . Figure 4B Schematic diagram of unavailable monitoring stations in the integrity monitoring sub-area in the embodiment of the present application Figure 2 FIG4C is a schematic diagram of unavailable monitoring stations in the integrity monitoring sub-area in an embodiment of the present application. Figure 3 The monitoring station whose first integrity monitoring indicator indicates that it is unavailable is called an unavailable monitoring station. Figure 4A As shown, when the number of unavailable monitoring stations in the integrity monitoring area meets the first preset condition, the integrity monitoring result of the sub-area of ​​the integrity monitoring area indicates a pass. Figure 4B As shown, when the number of unavailable monitoring stations in the integrity monitoring area meets the second preset condition, the integrity monitoring result of the sub-area of ​​the integrity monitoring area indicates failure. Figure 4C As shown, when the number of unavailable monitoring stations in all integrity monitoring sub-areas meets the third preset condition, the sub-area integrity monitoring result of the integrity monitoring area indicates unknown, and the integrity monitoring result of the STEC correction number of the area cannot be given. The unavailability of the integrity of the SETC correction number of a single station caused in this case may be caused by poor data quality, or it may be caused by local ionospheric anomalies such as ionospheric scintillation. Therefore, it may be necessary to proceed to step S34 and make further judgment based on the ROTI value.

[0258] Step S34: performing ROTI calculation and ROTI detection on the monitoring station indicated as unavailable by the first integrity monitoring indicator.

[0259] Here, in step S33, when it is determined that the integrity monitoring result of the sub-area of ​​the integrity monitoring area indicates unknown, the regional ionospheric correction number integrity monitoring device performs ROTI calculation for the unavailable monitoring station in the integrity monitoring area, and determines the index integrity monitoring result corresponding to the ROTI detection according to the comparison result between the ROTI value and the second threshold.

[0260] Specifically, the regional ionospheric correction number integrity monitoring device calculates the TEC value of the unavailable monitoring station within the preset time period through the observation value of the unavailable monitoring station in the integrity monitoring area. The regional ionospheric correction number integrity monitoring device determines the rate of change ROT of TEC in the preset time interval according to the TEC value of the unavailable monitoring station within the preset time period, and obtains the ROTI value of the unavailable monitoring station within the preset time period by calculating the standard deviation of ROT within the preset time period.

[0261] For example, the preset time interval includes 30 seconds. The regional ionospheric correction integrity monitoring device calculates the TEC value at each moment based on the observation values ​​of the available monitoring stations and using the geometrically independent linear combination equation of the GNSS dual-frequency observations. The regional ionospheric correction integrity monitoring device subtracts the TEC value 30 seconds before the current moment from the TEC value at the current moment to obtain the TEC difference between the current moment and the previous 30 seconds. Dividing the TEC difference by the preset time interval, the TEC change rate at the current moment, i.e., ROT, can be obtained. The regional ionospheric correction integrity monitoring device calculates the standard deviation of ROT within the preset time period, and can obtain the ROTI value of the unavailable monitoring station within the preset time period. The ROTI value calculation formula is as follows:

[0262]

[0263] In the formula, <> represents the average value.

[0264] Here, the regional ionospheric correction number integrity monitoring device determines that the ROTI value of the unavailable monitoring station is greater than the second threshold value, and determines that the exponential integrity monitoring result of the integrity monitoring area indicates failure. Wherein, the exponential integrity monitoring result of the integrity monitoring area indicates failure, indicating that the regional ionospheric correction number integrity of the integrity monitoring area is unavailable.

[0265] The regional ionospheric correction number integrity monitoring device determines that the ROTI value of the unavailable monitoring station is not greater than the second threshold value, and determines that the index integrity monitoring result of the integrity monitoring area indicates a pass. Among them, the sub-area integrity monitoring result of the integrity monitoring area indicates a pass, indicating that the regional ionospheric correction number integrity of the integrity monitoring area is available.

[0266] Step S35: output and broadcast the integrity monitoring result of the integrity monitoring area.

[0267] Here, the method of outputting and broadcasting the integrity monitoring result of the integrity monitoring area in step S35 is the same as the method of step S26 in the aforementioned embodiment, and will not be repeated here.

[0268] In the above embodiment, it is possible to preliminarily determine whether the integrity of the regional ionospheric correction number of the monitoring station is available based on the regional ionospheric correction number. Using the preliminary judgment result, the integrity of the regional ionospheric correction number in the integrity monitoring area is monitored, and the integrity monitoring result of the integrity monitoring area is obtained, so as to judge whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available, thereby reducing the false alarm rate of the integrity monitoring of the regional ionospheric correction number, and improving the availability of the regional ionospheric correction number under the premise of ensuring the integrity risk index.

[0269] Based on the regional ionospheric correction number integrity monitoring method provided in the above embodiment, the present application also provides a specific implementation of the regional ionospheric correction number integrity monitoring device. Please refer to the following embodiment.

[0270] Figure 5 The present invention is a schematic diagram of the composition structure of a regional ionospheric correction number integrity monitoring device in an embodiment of the present application.

[0271] See also Figure 5 The regional ionospheric correction number integrity monitoring device provided in the embodiment of the present application includes the following units:

[0272] The acquisition module 41 is used to obtain regional ionospheric correction data.

[0273] The identification determination module 42 is used to determine the first integrity monitoring identification of the monitoring station in the integrity monitoring area based on the regional ionospheric correction number, and the first integrity monitoring identification is used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available.

[0274] The result determination module 43 is used to determine the integrity monitoring result of the first area according to the information of the integrity monitoring area, wherein the integrity monitoring result includes at least one of the following: the integrity monitoring result of the whole area, the integrity monitoring result of the sub-area and the index integrity monitoring result.

[0275] Here, the integrity monitoring result characterizes whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available. The integrity monitoring result of the whole area includes the integrity monitoring result obtained according to the first integrity monitoring mark of the monitoring station adjacent to the integrity monitoring area. The sub-area integrity monitoring result includes the integrity monitoring result obtained from the first integrity monitoring mark of the integrity monitoring sub-area divided from the integrity monitoring area. The index integrity monitoring result includes the integrity monitoring result obtained according to the ionospheric total electron content change rate index ROTI value of the monitoring station.

[0276] The output module 34 is used to output and broadcast the integrity monitoring result of the first area.

[0277] In the above embodiment, the regional ionospheric correction number can be determined according to the regional ionospheric correction number, and the regional ionospheric correction number integrity monitoring mark of the monitoring station is preliminarily determined. Using the preliminary judgment result, the integrity of the regional ionospheric correction number is monitored, and the integrity monitoring result of the integrity monitoring area is obtained, so as to judge whether the preliminary judged regional ionospheric correction number integrity monitoring mark passes the monitoring, and then the regional ionospheric correction number integrity monitoring mark of the monitoring station is determined again according to the integrity monitoring result, thereby reducing the false alarm rate of the regional ionospheric correction number integrity monitoring, and under the premise of ensuring the integrity risk index, the availability of the regional ionospheric correction number is improved.

[0278] In some embodiments, in order to identify the integrity of the regional ionospheric STEC correction number of the monitoring station, the identification determination module 42 may include:

[0279] The model value determination submodule is used to determine the STEC model value based on the regional ionospheric correction number using the regional ionospheric model.

[0280] The estimation determination submodule is used to calculate the STEC estimation value based on the observation value of the monitoring station, the broadcast ephemeris and the comprehensive correction number using the non-difference non-combined precise single point positioning algorithm;

[0281] A protection level determination submodule, configured to determine the integrity protection level of the regional ionospheric correction number according to the difference between the STEC model value and the STEC estimated value;

[0282] The identification determination submodule compares the integrity protection level with the first threshold value to determine the first integrity monitoring identification of the monitoring station.

[0283] In some embodiments, in order to detect the integrity of the entire integrity monitoring area and obtain the integrity monitoring result of the entire area, the result determination module 43 may include:

[0284] The neighbor station acquisition submodule is used to acquire neighbor monitoring stations whose distance to the integrity monitoring area is less than a preset distance.

[0285] The whole-area result determination submodule is used to determine the integrity monitoring result of the whole area of ​​the integrity monitoring area according to the first integrity monitoring identifier of the adjacent monitoring station.

[0286] The whole-area result determination submodule is specifically used to determine that the whole-area integrity monitoring result of the integrity monitoring area indicates a failure when the first integrity monitoring identification indication of the adjacent monitoring station is unavailable. When the first integrity monitoring identification indication of the adjacent monitoring station is available, determine that the whole-area integrity monitoring result of the integrity monitoring area indicates an unknown.

[0287] In some embodiments, in order to detect the integrity of a sub-area of ​​the integrity monitoring area and obtain the sub-area integrity monitoring result, the result determination module 43 may include:

[0288] The statistical submodule is used to count the number of unavailable monitoring stations in all integrity monitoring sub-areas within the integrity monitoring area, the integrity monitoring sub-areas include the integrity monitoring sub-areas divided from the integrity monitoring area, and the unavailable monitoring stations include the monitoring stations indicated as unavailable by the first integrity monitoring identifier.

[0289] The sub-area result determination submodule is used to determine the sub-area integrity monitoring results of the integrity monitoring area according to the number of unavailable monitoring stations.

[0290] The sub-area result determination submodule is specifically configured to determine that the integrity monitoring result indication of the sub-area of ​​the integrity monitoring area is passed when the number of unavailable monitoring stations in the integrity monitoring area is a first value.

[0291] When the number of unavailable monitoring stations in at least one integrity monitoring sub-area is greater than a second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates a failure.

[0292] When the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than a second value and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown.

[0293] In some embodiments, in order to detect the ROTI value of the integrity monitoring area, the index integrity monitoring result is obtained. The result determination module 43 may include:

[0294] The ROTI calculation submodule is used to calculate the ROTI value of the unavailable monitoring station within a preset time period based on the observation value of the unavailable monitoring station in the integrity monitoring area.

[0295] The index result determination submodule is used to determine the index integrity monitoring result in the integrity monitoring area according to the comparison result of the ROTI value and the second threshold value.

[0296] The index result determination submodule is specifically configured to determine that the index integrity monitoring result of the integrity monitoring area indicates a failure when the comparison result shows that the ROTI value is greater than a second threshold value. When the comparison result shows that the ROTI value is not greater than the second threshold value, determine that the index integrity monitoring result of the integrity monitoring area indicates a pass.

[0297] In some embodiments, the integrity monitoring result includes a second integrity monitoring flag, and the second integrity monitoring flag is used to indicate whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available.

[0298] In some embodiments, the output module 44 is specifically configured to output and broadcast an alarm signal when the second integrity monitoring indicator indicates an alarm.

[0299] Instructions not passed Instructions passed Figure 6 A schematic diagram of the hardware structure of a regional ionospheric correction integrity monitoring device provided in an embodiment of the present application is shown.

[0300] The regional ionospheric correction integrity monitoring device may include a processor 51 and a memory 52 storing computer program instructions.

[0301] Specifically, the processor 51 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0302] The memory 52 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 52 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 52 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 52 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 52 is a non-volatile solid-state memory.

[0303] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of the present application.

[0304] The processor 51 implements any one of the regional ionospheric correction number integrity monitoring equipment methods in the above embodiments by reading and executing computer program instructions stored in the memory 52.

[0305] In one example, the regional ionospheric correction integrity monitoring device may further include a communication interface 53 and a bus 54. As shown in the figure, the processor 51, the memory 52, and the communication interface 53 are connected through the bus 54 and communicate with each other.

[0306] The communication interface 53 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0307] Bus 54 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 54 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0308] The regional ionospheric correction number integrity monitoring device can execute the regional ionospheric correction number integrity monitoring method in the embodiment of the present application based on the regional ionospheric correction number, thereby realizing the combination of FIG. Figure 2 , Figure 3 and Figure 5 A method and apparatus for monitoring the integrity of regional ionospheric correction numbers are described.

[0309] In addition, in combination with the regional ionospheric correction number integrity monitoring in the above embodiments, the embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the regional ionospheric correction number integrity monitoring methods in the above embodiments is implemented.

[0310] In addition, in combination with the regional ionospheric correction number integrity monitoring in the above-mentioned embodiments, the embodiments of the present application may provide a computer program product. The technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer program product is stored in a storage medium, and includes a number of instructions for enabling a computer device, a mobile terminal or a processor therein to execute all or part of the steps of the regional ionospheric correction number integrity monitoring method described in each embodiment of the present application.

[0311] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0312] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0313] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0314] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0315] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for monitoring the integrity of regional ionospheric corrections, characterized in that: The method comprises: Get regional ionospheric corrections; Determining, based on the regional ionospheric correction number, a first integrity monitoring flag of a monitoring station in an integrity monitoring area, wherein the first integrity monitoring flag is used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available; Determine, according to the information of the integrity monitoring area, an integrity monitoring result of the integrity monitoring area, wherein the integrity monitoring result includes at least one of the following: an integrity monitoring result of the entire area, an integrity monitoring result of a sub-area, and an index integrity monitoring result; The integrity monitoring result indicates whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available; The integrity monitoring result of the entire area includes the integrity monitoring result obtained according to the first integrity monitoring identifier of the monitoring station adjacent to the integrity monitoring area; The sub-area integrity monitoring result includes an integrity monitoring result obtained from a first integrity monitoring identifier of an integrity monitoring sub-area divided from the integrity monitoring area; The index integrity monitoring result includes the integrity monitoring result obtained according to the ionospheric total electron content change rate index ROTI value of the monitoring station; Output and broadcast the integrity monitoring results of the integrity monitoring area.

2. The method according to claim 1, characterized in that: The determining, based on the ionospheric correction number of the monitoring station, a first integrity monitoring identifier of the monitoring station in the integrity monitoring area comprises: Based on the regional ionospheric correction number, a regional ionospheric model is used to determine a slant ionospheric total electron content (STEC) model value; Based on the observations, broadcast ephemeris and comprehensive corrections of the monitoring stations, the STEC estimation value is solved by using the non-differenced non-combined precise point positioning algorithm. determining an integrity protection level of the regional ionospheric correction number according to a difference between the STEC model value and the STEC estimate value; The integrity protection level is compared with a first threshold value to determine a first integrity monitoring identifier of the monitoring station.

3. The method according to claim 1, characterized in that: The integrity monitoring result includes the integrity monitoring result of the entire area, and the integrity monitoring result of the integrity monitoring area is determined according to the information of the integrity monitoring area, including: Acquire an adjacent monitoring station whose distance from the integrity monitoring area is less than a preset distance; The integrity monitoring result of the entire integrity monitoring area is determined according to the first integrity monitoring identifier of the adjacent monitoring station.

4. The method according to claim 3, characterized in that: Determining the integrity monitoring result of the entire integrity monitoring area according to the first integrity monitoring identifier of the adjacent monitoring station includes: In the case where the first integrity monitoring identification of the adjacent monitoring station indicates that it is unavailable, determining that the integrity monitoring result of the entire integrity monitoring area indicates that it has failed; When the first integrity monitoring identification indication of the adjacent monitoring station is available, determining that the integrity monitoring result indication of the entire integrity monitoring area is unknown.

5. The method according to claim 1, characterized in that: The integrity monitoring result includes the integrity monitoring result of the sub-area, and the determining the integrity monitoring result of the integrity monitoring area according to the information of the integrity monitoring area includes: Counting the number of unavailable monitoring stations in all integrity monitoring sub-areas within the integrity monitoring area, the integrity monitoring sub-areas including integrity monitoring sub-areas divided from the integrity monitoring area, and the unavailable monitoring stations including monitoring stations indicated as unavailable by first integrity monitoring identifiers; Determine the integrity monitoring result of the sub-area of ​​the integrity monitoring area according to the number of the unavailable monitoring stations.

6. The method according to claim 5, characterized in that: Determining the integrity monitoring result of the sub-area of ​​the integrity monitoring area according to the number of the unavailable monitoring stations includes: When the number of unavailable monitoring stations in the integrity monitoring area is a first value, determining that the integrity monitoring result of a sub-area of ​​the integrity monitoring area indicates a pass; or, When the number of unavailable monitoring stations in at least one of the integrity monitoring sub-areas is greater than a second value, determining that the sub-area integrity monitoring result of the integrity monitoring area indicates a failure; or, When the number of unavailable monitoring stations in each integrity monitoring sub-area is not greater than a second value and the number of unavailable monitoring stations in at least one integrity monitoring sub-area is the second value, it is determined that the sub-area integrity monitoring result of the integrity monitoring area indicates unknown.

7. The method according to claim 1, characterized in that: The integrity monitoring result includes an index integrity monitoring result, and the integrity monitoring result of the integrity monitoring area is determined according to the information of the integrity monitoring area, including: Calculate the ROTI value of the unavailable monitoring station within a preset time period based on the observation value of the unavailable monitoring station in the integrity monitoring area; The exponential integrity monitoring result in the integrity monitoring area is determined according to the comparison result of the ROTI value and the second threshold value.

8. The method according to claim 7, characterized in that: Determining the exponential integrity monitoring result in the integrity monitoring area according to the comparison result between the ROTI value and the second threshold value includes: If the comparison result is that the ROTI value is greater than the second threshold value, determining that the exponential integrity monitoring result of the integrity monitoring area indicates a failure; When the comparison result is that the ROTI value is not greater than the second threshold value, it is determined that the exponential integrity monitoring result of the integrity monitoring zone indicates a pass.

9. The method according to claim 1, characterized in that: The integrity monitoring result includes a second integrity monitoring flag, and the second integrity monitoring flag is used to indicate whether the integrity of the regional ionospheric correction number of the integrity monitoring area is available.

10. The method according to claim 9, characterized in that: The output and broadcasting of the integrity monitoring results of the integrity monitoring area includes: When the integrity monitoring result indicates a failure, a second integrity monitoring indicator indicating an alarm is output and broadcast.

11. A regional ionospheric correction integrity monitoring device, characterized in that: The device comprises: A receiving module is used to receive regional ionospheric correction data; an identification determination module, configured to determine a first integrity monitoring identification of a monitoring station in an integrity monitoring area based on the regional ionospheric correction number, wherein the first integrity monitoring identification is used to indicate whether the integrity of the regional ionospheric correction number of the monitoring station is available; A result determination module, configured to determine an integrity monitoring result of the integrity monitoring area according to information of the integrity monitoring area, wherein the integrity monitoring result includes at least one of the following: an integrity monitoring result of the entire area, an integrity monitoring result of a sub-area, and an index integrity monitoring result; The integrity monitoring result indicates whether the integrity of the regional ionospheric correction number in the integrity monitoring area is available; The integrity monitoring result of the entire area includes the integrity monitoring result obtained according to the first integrity monitoring identifier of the monitoring station adjacent to the integrity monitoring area; The sub-area integrity monitoring result includes an integrity monitoring result obtained from a first integrity monitoring identifier of an integrity monitoring sub-area divided from the integrity monitoring area; The index integrity monitoring result includes the integrity monitoring result obtained according to the ionospheric total electron content change rate index ROTI value of the monitoring station; The output module is used to output and broadcast the integrity monitoring result of the integrity monitoring area.

12. A regional ionospheric correction integrity monitoring device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the method for monitoring the integrity of regional ionospheric correction numbers as described in any one of claims 1 to 10 is implemented.

13. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the regional ionospheric correction number integrity monitoring method as described in any one of claims 1 to 10 is implemented.

14. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the regional ionospheric correction number integrity monitoring method described in any one of claims 1-10 is implemented.

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