Method, device and equipment for determining reasons for abnormal satellite monitoring data

Abstract

The embodiments of the present application provide a method, apparatus, and device for determining the cause of abnormal satellite monitoring data. The method for determining the cause of abnormal satellite monitoring data includes: obtaining multiple sets of satellite monitoring data of the same satellite collected by multiple monitoring stations; performing data consistency verification on each set of satellite monitoring data according to at least one of the carrier wavelength, Doppler frequency shift value, carrier observation value, and navigation message of each frequency point of the satellite to obtain multiple data verification results; when the multiple data verification results meet the first preset condition, determining that the cause of the abnormal satellite monitoring data is caused by an abnormal satellite; the embodiments of the present application can solve the problem that the existing differential and augmentation services cannot determine the cause of the abnormal satellite monitoring data.

Description

Technical Field

[0001] This application belongs to the field of satellite monitoring, and particularly relates to a method, device, and equipment for determining the reasons for abnormal satellite monitoring data. Background Art

[0002] The Global Navigation Satellite System (GNSS) broadcasts navigation signals through satellites. The navigation signals include three parts: carrier wave, spreading code, and navigation message. By capturing and tracking the navigation signals, a GNSS receiver can obtain carrier wave observation values, pseudorange observation values, Doppler frequency shift values, carrier-to-noise ratio values, and navigation messages, thereby realizing functions such as positioning, speed measurement, and timekeeping.

[0003] Existing technologies usually use Doppler frequency shift values for speed measurement. If there are abnormalities in the satellites, local interference or even spoofing signals, or abnormalities in the receivers, the obtained speed results are not reliable. In dynamic applications, especially autonomous driving applications, if unreliable speed measurement results are used, it may damage the user's property or even pose a threat to life safety.

[0004] When there is an inconsistency among the Doppler frequency shift value, carrier wave observation value, and navigation message of a certain satellite, it indicates that there is an abnormality in the satellite or the receiver is affected by GNSS interference. At this time, the receiver's calculation results are not reliable. However, the existing differential and augmentation services cannot determine the reasons for the abnormal satellite monitoring data. Summary of the Invention

[0005] Embodiments of this application provide a method, device, and equipment for determining the reasons for abnormal satellite monitoring data, which can solve the problem that the existing differential and augmentation services cannot determine the reasons for the abnormal satellite monitoring data.

[0006] In a first aspect, embodiments of this application provide a method for determining the reasons for abnormal satellite monitoring data, including:

[0007] Obtain multiple sets of satellite monitoring data of the same satellite collected by multiple monitoring stations. The satellite monitoring data includes at least one of the following: the carrier wavelength of each frequency point of the satellite, the Doppler frequency shift value of each frequency point of the satellite, the carrier wave observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite;

[0008] Perform data consistency verification on each set of satellite monitoring data according to at least one of the carrier wavelength of each frequency point of the satellite, the Doppler frequency shift value of each frequency point of the satellite, the carrier wave observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite, and obtain multiple data verification results;

[0009] When the data verification results of multiple groups meet the first preset condition, determine that the reason for the anomaly in the satellite monitoring data is caused by the anomalous satellite.

[0010] Further, in one embodiment, when the satellite monitoring data includes the carrier wavelengths and Doppler frequency shift values of each frequency point of the satellite;

[0011] Perform data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, and obtain multiple data verification results, including:

[0012] For each group of satellite monitoring data, perform the following operations respectively:

[0013] Calculate a first index characterizing the consistency of the Doppler frequency shift values of each frequency point according to the Doppler frequency shift values and carrier wavelengths of each frequency point of the satellite;

[0014] When the first index is greater than or equal to the first preset index threshold, determine that the data verification result fails the inter-frequency consistency detection;

[0015] When the first index is less than the first preset index threshold, determine that the data verification result passes the inter-frequency consistency detection.

[0016] Further, in one embodiment, when the satellite monitoring data includes the carrier observations of each frequency point of the satellite;

[0017] Perform data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, and obtain multiple data verification results, further including:

[0018] For each group of satellite monitoring data, perform the following operations respectively:

[0019] Calculate a second index characterizing the difference between the Doppler frequency shift value and the carrier observation of the main frequency point according to the Doppler frequency shift value and the carrier observation of the main frequency point of the satellite;

[0020] When the second index is greater than or equal to the second preset index threshold, determine that the data verification result fails the carrier cross-verification;

[0021] When the second index is less than the second preset index threshold, determine that the data verification result passes the carrier cross-verification.

[0022] Further, in one embodiment, the method further includes:

[0023] Obtain the coordinate data of the monitoring station;

[0024] When the satellite monitoring data also includes the navigation messages of each frequency point of the satellite;

[0025] Performing data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain a plurality of data verification results, further including:

[0026] For each group of satellite monitoring data, perform the following operations respectively:

[0027] Calculating a third index characterizing the difference between the navigation message and the Doppler frequency shift value of the main frequency point according to the navigation message of the main frequency point of the satellite, the Doppler frequency shift value of the main frequency point, the carrier wavelength of the main frequency point, and the coordinate data of the monitoring station;

[0028] When the third index is greater than or equal to the third preset index threshold, determining the data verification result as the navigation message cross-verification fails;

[0029] When the third index is less than the third preset index threshold, determining the data verification result as the navigation message cross-verification passes.

[0030] Further, in one embodiment, performing data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain a plurality of data verification results, further including:

[0031] Inputting the navigation message into a preset large number decision algorithm and outputting decision result parameters;

[0032] When the navigation message is greater than or equal to the preset decision ratio of the decision result parameter, determining the data verification result as the navigation message is correct;

[0033] When the navigation message is less than the preset decision ratio of the decision result parameter, determining the data verification result as the navigation message is incorrect.

[0034] Further, in one embodiment, the first preset condition includes at least one of the following:

[0035] Among the plurality of data verification results, the ratio of the amount of data determined to pass the inter-frequency consistency detection and the navigation message is correct to the amount of data determined to be the navigation message is correct is less than the first preset ratio threshold;

[0036] Among the plurality of data verification results, the ratio of the amount of data determined to pass the carrier cross-verification and the navigation message is correct to the amount of data determined to be the navigation message is correct is less than the second preset ratio threshold;

[0037] Among multiple data verification results, the ratio of the amount of data determined to pass the cross-verification of navigation messages and have correct navigation messages to the amount of data determined to have correct navigation messages is less than a third preset proportional threshold.

[0038] Further, in one embodiment, the method further includes:

[0039] When multiple data verification results do not meet the first preset condition, divide multiple monitoring stations into multiple preset regions according to the coordinate data of the multiple monitoring stations;

[0040] When the multiple groups of data verification results of the same satellite collected by the monitoring stations in the first region among the multiple preset regions meet the second preset condition, determine that the reason for the abnormal satellite monitoring data is caused by interference in the first region, and the first region is any one of the multiple preset regions.

[0041] Further, in one embodiment, the second preset condition includes at least one of the following:

[0042] Among the multiple data verification results of the satellite, the amount of data determined to have incorrect navigation messages is greater than or equal to a first preset threshold;

[0043] Among the multiple data verification results of the satellite, the amount of data determined to fail the inter-frequency consistency detection and have correct navigation messages is greater than or equal to a second preset threshold;

[0044] Among the multiple data verification results of the satellite, the amount of data determined to fail the carrier cross-verification and have correct navigation messages is greater than or equal to a third preset threshold;

[0045] Among the multiple data verification results of the satellite, the amount of data determined to fail the cross-verification of navigation messages and have correct navigation messages is greater than or equal to a fourth preset threshold.

[0046] Further, in one embodiment, the method further includes:

[0047] When, among multiple data verification results, the ratio of the amount of data determined to pass the cross-verification of navigation messages and have correct navigation messages to the amount of data determined to have correct navigation messages is less than a third preset proportional threshold, calculate the Doppler correction number according to multiple third indicators corresponding to the multiple data verification results determined to have correct navigation messages.

[0048] Further, in one embodiment, calculating the Doppler correction number according to multiple third indicators corresponding to the multiple data verification results determined to have correct navigation messages includes:

[0049] Calculate the average value of the multiple third indicators, and determine the average value as the Doppler correction number; or,

[0050] Using multiple third indicators as input values for the least squares method to output Doppler correction values; or,

[0051] Using multiple third indicators as input values for a preset filtering algorithm to output Doppler correction values.

[0052] Further, in one embodiment, the method further includes:

[0053] Obtaining satellite report information released by a Global Navigation Satellite System (GNSS) provider or the International GNSS Service (IGS), where the satellite report information includes whether a satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have interference, Doppler correction values, and navigation messages;

[0054] Calculating the probability value that the satellite determination information determined based on multiple data verification results does not match each type of information in the satellite report information, where the satellite determination information includes whether a satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have interference, Doppler correction values, and navigation messages;

[0055] When the probability value that each type of information does not match exceeds a preset probability threshold, adjusting the preset threshold applied for data consistency verification.

[0056] Further, in one embodiment, when the probability value that each type of information does not match exceeds a preset probability threshold, adjusting the preset threshold applied for data consistency verification includes:

[0057] When the probability value that the navigation message does not match exceeds the preset probability threshold, adjusting the preset decision ratio;

[0058] When the probability value that whether a satellite is determined to be an abnormal satellite does not match exceeds the preset probability threshold, adjusting at least one of a first preset ratio threshold, a second preset ratio threshold, a third preset ratio threshold, a first preset index threshold, a second preset index threshold, and a third preset index threshold;

[0059] When the probability value that whether multiple preset regions to which multiple monitoring stations belong are determined to have interference does not match exceeds the preset probability threshold, adjusting at least one of a first preset ratio threshold, a second preset ratio threshold, a third preset ratio threshold, and the sizes of the multiple preset regions;

[0060] When the probability value that the Doppler correction value does not match exceeds the preset probability threshold, switching the algorithm for calculating the Doppler correction value, or adjusting the parameters of the algorithm applied for calculating the Doppler correction value.

[0061] In a second aspect, an apparatus for determining the cause of anomalies in satellite monitoring data provided by an embodiment of the present application includes:

[0062] An acquisition module, configured to acquire multiple sets of satellite monitoring data of the same satellite collected by multiple monitoring stations, where the satellite monitoring data includes at least one of the following: the carrier wavelength of each frequency point of the satellite, the Doppler frequency shift value of each frequency point of the satellite, the carrier observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite;

[0063] A verification module, configured to perform data consistency verification on each set of satellite monitoring data according to at least one of the carrier wavelength of each frequency point of the satellite, the Doppler frequency shift value of each frequency point of the satellite, the carrier observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite, to obtain multiple data verification results;

[0064] A determination module, configured to determine that the reason for the anomaly of the satellite monitoring data is caused by an abnormal satellite when multiple data verification results meet a first preset condition.

[0065] Further, in an embodiment, the apparatus further includes:

[0066] A division module, configured to divide multiple monitoring stations into multiple preset regions according to the coordinate data of the multiple monitoring stations when multiple data verification results do not meet the first preset condition;

[0067] The determination module is further configured to determine that the reason for the anomaly of the satellite monitoring data is caused by interference in a first region when multiple sets of data verification results of the same satellite collected by the monitoring stations in the first region among multiple preset regions meet a second preset condition, and the first region is any one of the multiple preset regions.

[0068] In a third aspect, an apparatus for determining the reason for the anomaly of satellite monitoring data according to an embodiment of the present application includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the computer program is executed by the processor, the method for determining the reason for the anomaly of satellite monitoring data as described above is implemented.

[0069] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which an implementation program for information transmission is stored, and when the program is executed by a processor, the method for determining the reason for the anomaly of satellite monitoring data as described above is implemented.

[0070] The method, apparatus, and device for determining the reason for the anomaly of satellite monitoring data according to the embodiments of the present application compare the following types of data in the satellite monitoring data: carrier wavelength, navigation message, Doppler frequency shift value, and carrier observation value, specifically measure the consistency of the Doppler frequency shift value of the satellite frequency point, the difference between the Doppler frequency shift value and the carrier observation value, the difference between the navigation message and the Doppler frequency shift value, and the correctness of the navigation message, and then determine the reason for the anomaly of the satellite monitoring data. Since the considered factors are relatively comprehensive, the accuracy of determining the reason for the anomaly of the satellite monitoring data is ensured. Brief Description of the Drawings

[0071] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0072] Figure 1 It is a schematic diagram of the system architecture of a method for determining the reasons for abnormal satellite monitoring data provided by an embodiment of the present application;

[0073] Figure 2 It is a schematic flowchart of a method for determining the reasons for abnormal satellite monitoring data provided by an embodiment of the present application;

[0074] Figure 3 It is a schematic diagram of the structure of a device for determining the reasons for abnormal satellite monitoring data provided by an embodiment of the present application;

[0075] Figure 4 It is a schematic diagram of the structure of a device for determining the reasons for abnormal satellite monitoring data provided by an embodiment of the present application. Detailed Description of the Embodiments

[0076] The following will describe in detail the features and exemplary embodiments of various aspects of the present application. To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, 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 configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0077] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, elements defined by the statement "including..." do not exclude the presence of additional identical elements in the process, method, article, or device including the said elements.

[0078] The service performance of GNSS is affected by satellite orbit errors, the stability of on-board atomic clocks, ionospheric effects, tropospheric effects, multipath effects, and the performance of the receiver itself. To improve the performance of GNSS, differential and augmentation technologies are introduced. Differential technology means that the user receives the correction values of each error source or the comprehensive error correction value broadcast by a third-party service provider and corrects the pseudorange observation value and the carrier observation value, thereby improving the accuracy of applications such as positioning. On the basis of differential technology, augmentation technology adds integrity information to ensure that users are not affected by incorrect differential information. The main components of GNSS differential and augmentation services are monitoring stations deployed in regional, wide-area, or global areas, a data processing center that processes the observation data of the monitoring stations, and a broadcast platform that broadcasts differential and augmentation information.

[0079] In addition to pseudorange observation values and carrier observation values, GNSS receivers can also output carrier-to-noise ratio values and Doppler shift values. The Doppler shift value is affected by factors such as the relative motion rate between the satellite and the receiver, the timing change rate of the on-board atomic clock, the time-domain change rate of the GNSS receiver clock, and the error of the GNSS receiver tracking loop.

[0080] When there is an inconsistency among the Doppler shift value, the carrier observation value, and the navigation message of a certain satellite, it indicates that the satellite is abnormal or the receiver is affected by GNSS interference. At this time, the receiver's solution result is not credible. However, the existing differential and augmentation services cannot determine the reason for the abnormality of the satellite monitoring data.

[0081] For the sake of understanding, the terms that appear in the embodiments of this application are described below:

[0082] Global Navigation Satellite System (GNSS): This system broadcasts navigation signals through satellites. The navigation signals include three parts: carrier, spreading code, and navigation message. By capturing and tracking the navigation signals, GNSS receivers can obtain observation values such as carrier observation values, pseudorange observation values, Doppler shift values, and carrier-to-noise ratio values, as well as navigation messages, so as to achieve functions such as positioning, speed measurement, and time service. The GNSSs that have provided public services include: Global Positioning System (GPS), Global Navigation Satellite System (GLONASS, which is the abbreviation of the Russian "Global Satellite Navigation System"), Galileo satellite navigation system (Galileo), and BeiDou Navigation Satellite System (BDS) of China.

[0083] GNSS Doppler frequency shift: The difference between the carrier frequency value received by the user receiver and the nominal center frequency is the Doppler frequency shift value. The Doppler frequency shift value is affected by the relative motion between the user receiver and the satellite, the satellite clock change rate, the atmospheric effect change rate, the receiver clock change rate, and the receiver signal tracking loop. The Doppler frequency shift value can characterize the time-domain change rate of carrier observations and pseudorange observations.

[0084] GNSS interference: The power of GNSS navigation signals is very low, and there are a large number of other radio signals on the ground, so it is easily interfered. The types of interference include, but are not limited to, jamming and spoofing.

[0085] To solve the problems of the prior art, an embodiment of the present application provides a system for determining the cause of satellite monitoring data anomalies. Figure 1 The system architecture diagram of the method for determining the cause of satellite monitoring data anomalies is shown. As Figure 1 shown, the system includes: monitoring stations distributed locally, widely, or globally, a processing center for processing the satellite monitoring data collected by the monitoring stations, and a broadcast platform for broadcasting the processing results of the processing center to user devices.

[0086] For the monitoring stations, one implementation is that the monitoring stations only collect GNSS satellite monitoring data and send the collected data to the processing center for processing. Another implementation is that the monitoring stations perform data consistency verification on the satellite monitoring data they collect, obtain the data verification result, and send the data verification result to the processing center. The monitoring station network uses receivers with various different architectures to avoid incorrect detection results caused by common faults.

[0087] For the processing center, its implementation can be set up in a physical facility (such as a monitoring station), or it can be deployed on a server. To improve the availability of the service, the processing center adopts redundant configuration. The implementation methods of redundancy include, but are not limited to, the primary-backup mode and the multi-active mode. It is used to judge the cause of satellite monitoring data anomalies according to the data verification result. Or, it is used to perform data consistency verification on the satellite monitoring data, obtain the data verification result, and judge the cause of satellite monitoring data anomalies according to the data verification result.

[0088] For the broadcast platform, its implementation can be set in the processing center or built separately. To improve the availability of the service, the broadcast platform adopts redundant configuration. The implementation methods of redundancy include, but are not limited to, the primary-backup mode and the multi-active mode. The ways for the broadcast platform to transmit content include, but are not limited to, radio communication technologies such as the Internet and 5G.

[0089] Based on the system for determining the reasons for anomalies in satellite monitoring data, to solve the problems of the prior art, the embodiments of the present application provide a method, device, and equipment for determining the reasons for anomalies in satellite monitoring data. The embodiments of the present application compare the following types of data in satellite monitoring data: carrier wavelength, navigation message, Doppler shift value, and carrier observation value, specifically measure the consistency of the Doppler shift value of the satellite frequency point, the difference between the Doppler shift value and the carrier observation value, the difference between the navigation message and the Doppler shift value, and the correctness of the navigation message, and then determine the reasons for anomalies in the satellite monitoring data. Since the considered factors are relatively comprehensive, the accuracy of determining the reasons for anomalies in the satellite monitoring data is ensured. First, the method for determining the reasons for anomalies in the satellite monitoring data provided by the embodiments of the present application will be introduced below.

[0090] Figure 2 The flowchart of the method for determining the reasons for anomalies in the satellite monitoring data provided by an embodiment of the present application is shown. As Figure 2 shown, the method may include the following steps:

[0091] S200, obtain multiple groups of satellite monitoring data of the same satellite collected by multiple monitoring stations.

[0092] In one embodiment, the satellite monitoring data includes at least one of the following: the carrier wavelength of each frequency point of the satellite, the Doppler shift value of each frequency point of the satellite, the carrier observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite.

[0093] S202, perform data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelength of each frequency point of the satellite, the Doppler shift value of each frequency point of the satellite, the carrier observation value of each frequency point of the satellite, and the navigation message of each frequency point of the satellite, and obtain multiple data verification results.

[0094] In one embodiment, S202 may include:

[0095] For the coordinate data and satellite monitoring data of each group of monitoring stations, perform the following operations respectively:

[0096] Calculate a first index characterizing the consistency of the Doppler shift value of each frequency point according to the Doppler shift value and carrier wavelength of each frequency point of the satellite;

[0097] When the first index is greater than or equal to the first preset index threshold, determine that the data verification result fails the inter-frequency consistency detection;

[0098] When the first index is less than the first preset index threshold, determine that the data verification result passes the inter-frequency consistency detection.

[0099] Let λ be the carrier wavelength of a certain frequency point, and D be the Doppler frequency shift value of this frequency point. For all frequency points, the variance or standard deviation of the product of λ and D can be calculated, and the calculation result is determined as the first index. The first preset index threshold can be set artificially.

[0100] In one embodiment, S202 may further include:

[0101] For each group of satellite monitoring data, the following operations are respectively performed:

[0102] Calculate a second index characterizing the difference between the Doppler frequency shift value and the carrier observation value of the main frequency point according to the Doppler frequency shift value and the carrier observation value of the main frequency point of the satellite;

[0103] When the second index is greater than or equal to the second preset index threshold, determine the data verification result as the carrier cross-verification fails;

[0104] When the second index is less than the second preset index threshold, determine the data verification result as the carrier cross-verification passes.

[0105] The main frequency point is defined as the frequency point of the GNSS public signal containing the navigation message, and the second index can be equal to where the subscript t represents the t-th moment, D is the Doppler frequency shift value, is the carrier observation value.

[0106] In one embodiment, the method further includes: obtaining the coordinate data of the monitoring station.

[0107] In one embodiment, S202 may further include:

[0108] For each group of satellite monitoring data, the following operations are respectively performed:

[0109] Calculate a third index characterizing the difference between the navigation message of the main frequency point and the Doppler frequency shift value according to the navigation message of the satellite, the Doppler frequency shift value of the main frequency point, the carrier wavelength of the main frequency point, and the coordinate data of the monitoring station;

[0110] When the third index is greater than or equal to the third preset index threshold, determine the data verification result as the navigation message cross-verification fails;

[0111] When the third index is less than the third preset index threshold, determine the data verification result as the navigation message cross-verification passes.

[0112] The third index can be equal to is the relative velocity from the monitoring station to the satellite, which can be calculated from the navigation message and the monitoring station coordinates, is the time change rate of the satellite clock error, which can be calculated from the navigation message, The time variation rate of the receiver clock error of the monitoring station can be obtained through the positioning solution of the monitoring station.

[0113] In one embodiment, S202 may further include:

[0114] Input the navigation message into a preset majority decision algorithm and output the decision result parameters;

[0115] When the navigation message is greater than or equal to the preset decision ratio of the decision result parameters, determine the data verification result as the navigation message being correct;

[0116] When the navigation message is less than the preset decision ratio of the decision result parameters, determine the data verification result as the navigation message being incorrect.

[0117] Traverse the parameters of each navigation message and perform majority decision on the values received by all monitoring stations. For example, there are three parameters A, B, C, etc. in the navigation message (there are dozens of parameters in the actual message), and there are three stations 1, 2, 3. First, compare parameter A. The received data are A1, A2, A3, which represent the A values received by stations 1, 2, 3 respectively. Assume that A1 and A2 are both value x, and A3 is value y. Then the number of stations with value x is 2, which is the majority, and the decision result parameter corresponding to A is x. Similarly, compare parameters B and C. In practical applications, the number of monitoring stations is large, and there may be multiple different values such as x, y, z, m, n, l, etc. If the number of monitoring stations corresponding to x exceeds a certain ratio of the total number of monitoring stations and the value is the highest, then it is considered that the value should be x.

[0118] S204, when multiple data verification results meet the first preset condition, determine the reason for the anomaly of the satellite monitoring data as being caused by abnormal satellites.

[0119] In one embodiment, the first preset condition includes at least one of the following:

[0120] Among multiple data verification results, the ratio of the amount of data determined to have passed the inter-frequency consistency detection and the navigation message being correct to the amount of data determined to have the navigation message being correct is less than the first preset ratio threshold;

[0121] Among multiple data verification results, the ratio of the amount of data determined to have passed the carrier cross-check and the navigation message being correct to the amount of data determined to have the navigation message being correct is less than the second preset ratio threshold;

[0122] Among multiple data verification results, the ratio of the amount of data determined to have passed the navigation message cross-check and the navigation message being correct to the amount of data determined to have the navigation message being correct is less than the third preset ratio threshold.

[0123] The first preset ratio threshold, the second preset ratio threshold, and the third preset ratio threshold can be set manually.

[0124] In one embodiment, when multiple data verification results do not meet the first preset condition, the method further includes:

[0125] S206, dividing multiple monitoring stations into multiple preset regions according to the coordinate data of the multiple monitoring stations.

[0126] S208, when multiple groups of data verification results of the same satellite collected by the monitoring stations in the first region among the multiple preset regions meet the second preset condition, determining that the reason for the abnormal satellite monitoring data is caused by interference in the first region, where the first region is any one of the multiple preset regions.

[0127] In one embodiment, the second preset condition includes at least one of the following:

[0128] Among the multiple data verification results of the satellite, the amount of data determined to have a navigation message error is greater than or equal to the first preset threshold;

[0129] Among the multiple data verification results of the satellite, the amount of data determined to fail the inter-frequency consistency detection and have a correct navigation message is greater than or equal to the second preset threshold;

[0130] Among the multiple data verification results of the satellite, the amount of data determined to fail the carrier cross-verification and have a correct navigation message is greater than or equal to the third preset threshold;

[0131] Among the multiple data verification results of the satellite, the amount of data determined to fail the navigation message cross-verification and have a correct navigation message is greater than or equal to the fourth preset threshold.

[0132] The first preset threshold, the second preset threshold, the third preset threshold, and the fourth preset threshold can be set manually.

[0133] In one embodiment, when the ratio of the amount of data determined to pass the navigation message cross-verification and have a correct navigation message to the amount of data determined to have a correct navigation message among the multiple data verification results is less than the third preset ratio threshold, the method further includes:

[0134] S210, calculating the Doppler correction number according to multiple third indicators corresponding to the multiple data verification results determined to have a correct navigation message.

[0135] In one embodiment, S210 may include:

[0136] Calculating the average value of the multiple third indicators and determining the average value as the Doppler correction number.

[0137] In one embodiment, S210 may include:

[0138] Use multiple third indicators as the input values of the least squares method, and output the Doppler correction dD'.

[0139] The coefficients fitted by the least squares method are as follows:

[0140] dD' = a0 + a1×(t - t0) + a2×(t - t0) 2 +…+ a n ×(t - t0) n

[0141] where t and t0 are the sampling time of dD and the fitting reference time respectively, a i is the coefficient to be fitted, i takes integers from 0 to n, and n is a natural number. Each monitoring station has a value of the third indicator dD(ti) at the time ti. For example, at times t1 and t2, there are two stations A and B respectively, and n is taken as 1. Then the simultaneous equations are:

[0142] dD t1,A = a0 + a1×(t1 - t0)

[0143] dD t2,A = a0 + a1×(t2 - t0)

[0144] dD t1,B = a0 + a1×(t1 - t0)

[0145] dD t2,B = a0 + a1×(t2 - t0)

[0146] where dD, t1, and t2 are all known quantities, and t0 is set artificially, generally taking the latest time. Then the values of a0 and a1 can be obtained by solving the equations using the least squares method. Based on the values of a0 and a1, the Doppler correction dD' at time t3 can be calculated: dD' = a0 + a1×(t3 - t0).

[0147] In one embodiment, S210 may include:

[0148] Use multiple third indicators as the input values of a preset filtering algorithm, and output the Doppler correction.

[0149] The filtering algorithm can also use the least squares method to solve equations to calculate the Doppler correction, which will not be elaborated here.

[0150] The accuracy of the Doppler correction depends on whether the data volume of the third indicator is sufficient. If the data volume of the third indicator does not meet the requirements for calculating the Doppler correction, the calculation of the Doppler correction can be skipped.

[0151] In one embodiment, the method may further include:

[0152] Send the generation time of the data verification result, the correct navigation message, the satellite anomaly status, the regional interference status, and the Doppler correction number to the broadcast platform.

[0153] The expression of the regional interference status may include: the coverage range expressed by a geometric figure, such as the longitude and latitude of the lower left corner, the length, and the width of a rectangle, or the longitude and latitude of the center and the radius of a circle; the coverage range expressed by a preset grid, such as determining grid points at 1° longitude and latitude intervals for the service area and marking all the grid points covered by the area with interference as "regional interference exists".

[0154] When sending the above multiple types of data to the broadcast platform, if the processing center is in the primary-backup mode, the primary processing center is preferentially selected; if the processing center is in the multi-active mode, the processing center with the largest number of monitoring stations that determine that the "navigation message is correct" is preferentially selected.

[0155] With the optimization and upgrade of GNSS, the currently set threshold may not necessarily meet future requirements. In one embodiment, the method may further include:

[0156] S212, obtain the satellite report information released by the Global Navigation Satellite System (GNSS) provider or the International GNSS Service (IGS). The satellite report information includes whether the satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have regional interference, the Doppler correction number, and the navigation message.

[0157] S214, calculate the probability value that the satellite determination information determined based on multiple data verification results does not match each type of information in the satellite report information. The satellite determination information includes whether the satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have regional interference, the Doppler correction number, and the navigation message.

[0158] S216, when the probability value that each type of information does not match exceeds the preset probability threshold, adjust the preset threshold applied for data consistency verification.

[0159] In one embodiment, S216 may include:

[0160] When the probability value that the navigation message does not match exceeds the preset probability threshold, adjust the preset decision ratio;

[0161] When the probability value that whether the satellite is determined to be an abnormal satellite does not match exceeds the preset probability threshold, adjust at least one of the first preset ratio threshold, the second preset ratio threshold, the third preset ratio threshold, the first preset index threshold, the second preset index threshold, and the third preset index threshold;

[0162] When the probability value that whether the preset multiple regions to which multiple monitoring stations belong are determined to have interference in the region does not match exceeds a preset probability threshold, adjust at least one of the first preset ratio threshold, the second preset ratio threshold, the third preset ratio threshold, and the sizes of the preset multiple regions;

[0163] When the probability value that the Doppler corrections do not match exceeds a preset probability threshold, switch the algorithm for calculating the Doppler corrections, or adjust the parameters of the algorithm applied to calculate the Doppler corrections.

[0164] The method for determining the cause of abnormal satellite monitoring data in the embodiments of the present application specifically measures the consistency of the Doppler shift values of satellite frequency points, the difference between the Doppler shift values and the carrier observations, the difference between the navigation message and the Doppler shift values, and the correctness of the navigation message by comparing several types of data in the satellite monitoring data: carrier wavelength, navigation message, Doppler shift value, and carrier observation value, and then determines the cause of the abnormal satellite monitoring data. Since the considered factors are relatively comprehensive, the accuracy of determining the cause of the abnormal satellite monitoring data is ensured.

[0165] Figure 1-2 Describes the method for determining the cause of abnormal satellite monitoring data. The following combines the attached Figure 3-4 Describe the device provided in the embodiments of the present application.

[0166] Figure 3 FIG. shows a schematic structural diagram of a device for determining the cause of abnormal satellite monitoring data provided by an embodiment of the present application. Figure 3 Each module in the shown device has the function of implementing Figure 1 each step in and can achieve its corresponding technical effect. As Figure 3 shown, the device may include:

[0167] An acquisition module 300, configured to acquire coordinate data of multiple monitoring stations and acquire multiple groups of satellite monitoring data of the same satellite collected by the multiple monitoring stations.

[0168] In one embodiment, the satellite monitoring data at least includes at least one of the following: the carrier wavelength of each satellite frequency point, the Doppler shift value of each satellite frequency point, the carrier observation value of each satellite frequency point, and the navigation message of each satellite frequency point.

[0169] A verification module 302, configured to perform data consistency verification on each group of satellite monitoring data according to at least one of the carrier wavelength of each satellite frequency point, the Doppler shift value of each satellite frequency point, the carrier observation value of each satellite frequency point, and the navigation message of each satellite frequency point, and obtain multiple data verification results.

[0170] In one embodiment, the verification module 302 may be configured to:

[0171] For each set of satellite monitoring data, perform the following operations respectively:

[0172] Calculate a first index characterizing the consistency of the Doppler shift values of each frequency point based on the Doppler shift values and carrier wavelengths of each frequency point of the satellite;

[0173] When the first index is greater than or equal to the first preset index threshold, determine that the data verification result fails the inter-frequency consistency detection;

[0174] When the first index is less than the first preset index threshold, determine that the data verification result passes the inter-frequency consistency detection.

[0175] Let λ be the carrier wavelength of a certain frequency point and D be the Doppler shift value of that frequency point. For all frequency points, the variance or standard deviation of the product of λ and D can be calculated, and the calculation result is determined as the first index. The first preset index threshold can be set manually.

[0176] In one embodiment, the verification module 302 can also be used for:

[0177] For each set of satellite monitoring data, perform the following operations respectively:

[0178] Calculate a second index characterizing the difference between the Doppler shift value and the carrier observation value of the main frequency point based on the Doppler shift value and the carrier observation value of the main frequency point of the satellite;

[0179] When the second index is greater than or equal to the second preset index threshold, determine that the data verification result fails the carrier cross-verification;

[0180] When the second index is less than the second preset index threshold, determine that the data verification result passes the carrier cross-verification.

[0181] The main frequency point is defined as the frequency point of the GNSS public signal containing the navigation message, and the second index can be equal to where the subscript t represents the t-th moment, D is the Doppler shift value, is the carrier observation value.

[0182] In one embodiment, the verification module 302 can also be used for:

[0183] For each set of satellite monitoring data, perform the following operations respectively:

[0184] Calculate a third index characterizing the difference between the navigation message of the main frequency point and the Doppler shift value based on the navigation message of the satellite, the Doppler shift value of the main frequency point, the carrier wavelength of the main frequency point, and the coordinate data of the monitoring station;

[0185] When the third index is greater than or equal to the third preset index threshold, determine that the data verification result fails the navigation message cross-verification;

[0186] When the third index is less than the third preset index threshold, determine the data verification result as the navigation message cross-verification passed.

[0187] The third index can be equal to the relative velocity of the monitoring station pointing to the satellite, which can be calculated through the navigation message and the coordinates of the monitoring station, the time change rate of the satellite clock error, which can be calculated through the navigation message, the time change rate of the monitoring station receiver clock error, which can be obtained through the positioning solution of the monitoring station.

[0188] In one embodiment, the verification module 302 can also be used for:

[0189] Input the navigation message into the preset large number decision algorithm and output the decision result parameters;

[0190] When the navigation message is greater than or equal to the preset decision ratio of the decision result parameters, determine the data verification result as the navigation message being correct;

[0191] When the navigation message is less than the preset decision ratio of the decision result parameters, determine the data verification result as the navigation message being incorrect.

[0192] Traverse each parameter of the navigation message, and perform large number decision on the values received by all monitoring stations. For example, there are three parameters A, B, C, etc. in the navigation message (there are dozens of parameters in the real message), and there are three stations 1, 2, 3. First, compare the A parameter. The received data are A1, A2, A3, which represent the A values received by stations 1, 2, and 3 respectively. Assume that A1 and A2 are both the value x, and A3 is the value y. Then the number of stations with the value x is 2, which is the majority, and the decision result parameter corresponding to A is x. Similarly, compare the B and C parameters. In practical applications, the number of monitoring stations is large, and there may be multiple different values such as x, y, z, m, n, l, etc. If the number of monitoring stations corresponding to x exceeds a certain ratio of the total number of monitoring stations and the value is the highest, it is considered that the value should be x.

[0193] The determination module 304 is used to determine that the reason for the anomaly of the satellite monitoring data is caused by an abnormal satellite when multiple data verification results meet the first preset condition.

[0194] In one embodiment, the first preset condition includes at least one of the following:

[0195] Among multiple data verification results, the ratio of the amount of data determined to pass the inter-frequency consistency detection and the navigation message being correct to the amount of data determined to be correct in the navigation message is less than the first preset ratio threshold;

[0196] Among multiple data verification results, the ratio of the amount of data determined to pass carrier cross-verification and have correct navigation messages to the amount of data determined to have correct navigation messages is less than a second preset ratio threshold;

[0197] Among multiple data verification results, the ratio of the amount of data determined to pass navigation message cross-verification and have correct navigation messages to the amount of data determined to have correct navigation messages is less than a third preset ratio threshold.

[0198] The first preset ratio threshold, the second preset ratio threshold, and the third preset ratio threshold can be set manually.

[0199] In one embodiment, when multiple data verification results do not meet the first preset condition, the device may further include:

[0200] A partitioning module 306, configured to partition multiple monitoring stations into multiple preset regions according to the coordinate data of the multiple monitoring stations.

[0201] The determination module 304 is further configured to, when multiple groups of data verification results of the same satellite collected by the monitoring stations in the first region among the multiple preset regions meet the second preset condition, determine that the reason for the abnormal satellite monitoring data is interference in the first region, and the first region is any one of the multiple preset regions.

[0202] In one embodiment, the second preset condition includes at least one of the following:

[0203] Among multiple data verification results of the satellite, the amount of data determined to have incorrect navigation messages is greater than or equal to a first preset threshold;

[0204] Among multiple data verification results of the satellite, the amount of data determined to fail inter-frequency consistency detection and have correct navigation messages is greater than or equal to a second preset threshold;

[0205] Among multiple data verification results of the satellite, the amount of data determined to fail carrier cross-verification and have correct navigation messages is greater than or equal to a third preset threshold;

[0206] Among multiple data verification results of the satellite, the amount of data determined to fail navigation message cross-verification and have correct navigation messages is greater than or equal to a fourth preset threshold.

[0207] The first preset threshold, the second preset threshold, the third preset threshold, and the fourth preset threshold can be set manually.

[0208] In one embodiment, the device further includes:

[0209] A calculation module 310, configured to calculate a Doppler correction number according to a plurality of third indicators corresponding to a plurality of data verification results determined to be correct in navigation message when a ratio of a quantity of data determined to pass cross-verification of navigation messages and be correct in the plurality of data verification results to a quantity of data determined to be correct in navigation messages is less than a third preset ratio threshold.

[0210] In one embodiment, the calculation module 310 may be specifically configured to:

[0211] Calculate an average value of the plurality of third indicators, and determine the average value as the Doppler correction number.

[0212] In one embodiment, the calculation module 310 may also be specifically configured to:

[0213] Use the plurality of third indicators as input values of the least squares method, and output a Doppler correction number dD'.

[0214] The least squares method is used to fit the coefficients as follows:

[0215] dD' = a0 + a1×(t - t0) + a2×(t - t0) 2 +…+ a n ×(t - t0) n

[0216] where t and t0 are the sampling time of dD and the fitting reference time respectively, a i is the coefficient to be fitted, i takes integers from 0 to n, and n is a natural number. Each monitoring station has a value of the third indicator dD(ti) at the time ti. For example, at times t1 and t2, there are two stations A and B respectively, and n is taken as 1. Then the simultaneous equations are:

[0217] dD t1,A = a0 + a1×(t1 - t0)

[0218] dD t2,A = a0 + a1×(t2 - t0)

[0219] dD t1,B = a0 + a1×(t1 - t0)

[0220] dD t2,B = a0 + a1×(t2 - t0)

[0221] where dD, t1, and t2 are all known quantities, t0 is set artificially, and generally the latest time is taken. Then the values of a0 and a1 can be obtained by solving the equations using the least squares method. Based on the values of a0 and a1, the Doppler correction number dD' at time t3 can be calculated: dD' = a0 + a1×(t3 - t0).

[0222] In one embodiment, the computing module 310 may be specifically configured to:

[0223] Use multiple third indicators as input values of a preset filtering algorithm and output Doppler corrections.

[0224] The filtering algorithm can also use the least squares method to solve equations to calculate Doppler corrections, which will not be elaborated here.

[0225] The accuracy of the Doppler corrections depends on whether the data volume of the third indicators is sufficient. If the data volume of the third indicators does not meet the requirements for calculating Doppler corrections, the calculation of Doppler corrections can be skipped.

[0226] In one embodiment, the device may further include:

[0227] A sending module 312, configured to send the generation time of the data verification result, the correct navigation message, the satellite abnormal state, the regional interference state, and the Doppler corrections to the broadcast platform.

[0228] The expression mode of the regional interference state may include: the coverage range expressed by a geometric figure, such as the longitude and latitude of the lower left corner, length, and width of a rectangle, or the longitude and latitude of the center and radius of a circle; the coverage range expressed by a preset grid, such as determining grid points at 1° longitude and latitude intervals for the service area and marking all grid points covered by the interference area as "regional interference exists".

[0229] When sending the above multiple types of data to the broadcast platform, if the processing center is in the primary-backup mode, the primary processing center is preferentially selected; if the processing center is in the multi-active mode, the processing center with the largest number of monitoring stations that determine the "navigation message is correct" is preferentially selected.

[0230] With the optimization and upgrade of GNSS, the currently set thresholds may not necessarily meet future requirements.

[0231] In one embodiment, the acquisition module 300 is further configured to acquire satellite report information published by a Global Navigation Satellite System (GNSS) provider or the International GNSS Service (IGS), where the satellite report information includes whether a satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have regional interference, Doppler corrections, and navigation messages.

[0232] The computing module 310 is further configured to calculate the probability values of non-conformity between the satellite determination information determined based on multiple data verification results and each type of information in the satellite report information, where the satellite determination information includes whether a satellite is determined to be an abnormal satellite, whether multiple preset regions to which multiple monitoring stations belong are determined to have regional interference, Doppler corrections, and navigation messages.

[0233] In one embodiment, the device further includes an adjustment module 314, configured to adjust a preset threshold applied to data consistency verification when the probability value of non - conformity of each type of information exceeds a preset probability threshold.

[0234] In one embodiment, the adjustment module 314 may specifically be configured to:

[0235] When the probability value of non - conformity of the navigation message exceeds the preset probability threshold, adjust the preset decision ratio;

[0236] When the probability value of non - conformity of whether a satellite is determined to be an abnormal satellite exceeds the preset probability threshold, adjust at least one of a first preset ratio threshold, a second preset ratio threshold, a third preset ratio threshold, a first preset index threshold, a second preset index threshold, and a third preset index threshold;

[0237] When the probability value of non - conformity of whether multiple preset regions to which multiple monitoring stations belong are determined to have interference exceeds the preset probability threshold, adjust at least one of a first preset ratio threshold, a second preset ratio threshold, a third preset ratio threshold, and the sizes of the multiple preset regions;

[0238] When the probability value of non - conformity of the Doppler correction number exceeds the preset probability threshold, switch the algorithm for calculating the Doppler correction number, or adjust the parameters of the algorithm applied to calculate the Doppler correction number.

[0239] The device for determining the cause of abnormal satellite monitoring data according to the embodiments of the present application specifically measures the consistency of the Doppler shift value of the satellite frequency point, the difference between the Doppler shift value and the carrier observation value, the difference between the navigation message and the Doppler shift value, and the correctness of the navigation message by comparing the following types of data in the satellite monitoring data: carrier wavelength, navigation message, Doppler shift value, and carrier observation value, and then determines the cause of the abnormal satellite monitoring data. Since the considered factors are relatively comprehensive, the accuracy of determining the cause of the abnormal satellite monitoring data is ensured.

[0240] Figure 4 FIG. shows a schematic structural diagram of a device for determining the cause of abnormal satellite monitoring data provided by an embodiment of the present application. As Figure 4 shown, the device may include a processor 401 and a memory 402 storing computer program instructions.

[0241] Specifically, the above - mentioned processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0242] The memory 402 may include a mass memory for data or instructions. By way of example and not limitation, the memory 402 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 one example, the memory 402 may include removable or non-removable (or fixed) media, or the memory 402 is a non-volatile solid-state memory. The memory 402 may be inside or outside the integrated gateway disaster recovery device.

[0243] In one example, the memory 402 may be a read only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0244] The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement Figure 2 the method in the illustrated embodiment and achieve Figure 2 the corresponding technical effects achieved by the illustrated example in executing its method. For the sake of brevity of description, it will not be elaborated here.

[0245] In one example, the device for determining the cause of the satellite monitoring data anomaly may further include a communication interface 403 and a bus 410. Among them, as Figure 4 shown, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 and complete communication with each other.

[0246] The communication interface 403 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application.

[0247] The bus 410 includes hardware, software, or both, and couples the components of the online data flow metering device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 410 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0248] The device for determining the cause of the satellite monitoring data anomaly can execute the method for determining the cause of the satellite monitoring data anomaly in the embodiments of the present application, thereby implementing Figure 2 the corresponding technical effects of the described method for determining the cause of the satellite monitoring data anomaly.

[0249] In addition, in combination with the method for determining the cause of the satellite monitoring data anomaly in the above embodiments, the embodiments of the present application can be implemented by providing a computer storage medium. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the methods for determining the cause of the satellite monitoring data anomaly in the above embodiments is implemented.

[0250] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0251] The functional blocks shown in the above-described structural block diagrams 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 functional card, and so on. When implemented in software, the elements of the present application are programs or code segments for performing the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. A "machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0252] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed.

[0253] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each block in the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams. 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 should also be understood that each block in the block diagrams and / or flowcharts, and the combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware for performing the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0254] As described above, this is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A method for determining the cause of abnormal satellite monitoring data, characterized in that, Including: Obtaining multiple groups of satellite monitoring data of the same satellite collected by multiple monitoring stations, where the satellite monitoring data includes at least one of the following: the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite; Performing data consistency verification on each group of satellite monitoring data based on at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain multiple data verification results; When the multiple data verification results meet the first preset condition, determining that the reason for the abnormality of the satellite monitoring data is caused by an abnormal satellite; The satellite monitoring data includes the carrier wavelengths and Doppler frequency shift values of each frequency point of the satellite; The performing data consistency verification on each group of satellite monitoring data based on at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain multiple data verification results, includes: For each group of satellite monitoring data, respectively perform the following operations: Calculating a first index representing the consistency of the Doppler frequency shift values of each frequency point according to the Doppler frequency shift values and the carrier wavelengths of each frequency point of the satellite; When the first index is greater than or equal to the first preset index threshold, determining that the data verification result fails the inter-frequency consistency detection; When the first index is less than the first preset index threshold, determining that the data verification result passes the inter-frequency consistency detection.

2. The method for determining the cause of abnormal satellite monitoring data according to claim 1, wherein When the satellite monitoring data includes the carrier observations of each frequency point of the satellite; The performing data consistency verification on each group of satellite monitoring data based on at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain multiple data verification results, further includes: For each group of satellite monitoring data, respectively perform the following operations: Calculating a second index representing the difference between the Doppler frequency shift value and the carrier observation of the main frequency point of the satellite according to the Doppler frequency shift value and the carrier observation of the main frequency point of the satellite; When the second index is greater than or equal to the second preset index threshold, determining that the data verification result fails the carrier cross-verification; When the second index is less than the second preset index threshold, determining that the data verification result passes the carrier cross-verification.

3. The method for determining the cause of abnormal satellite monitoring data according to claim 2, characterized in that, The method further includes: Obtaining the coordinate data of the monitoring station; When the satellite monitoring data further includes the navigation messages of each frequency point of the satellite; The performing data consistency verification on each group of satellite monitoring data based on at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation messages of each frequency point of the satellite, to obtain multiple data verification results, further includes: For each group of satellite monitoring data, respectively perform the following operations: Calculate a third metric that characterizes the difference between the navigation message and the Doppler shift value of the main frequency point based on the navigation message of the main frequency point of the satellite, the Doppler shift value of the main frequency point, the carrier wavelength of the main frequency point, and the coordinate data of the monitoring station; When the third metric is greater than or equal to the third preset metric threshold, determine that the data verification result fails the cross-verification of the navigation message; When the third metric is less than the third preset metric threshold, determine that the data verification result passes the cross-verification of the navigation message.

4. The method for determining the cause of abnormal satellite monitoring data according to claim 3, characterized in that, The data consistency verification of each group of satellite monitoring data based on at least one of the carrier wavelengths of the satellite's various frequency points, the Doppler shift values of the satellite's various frequency points, the carrier observations of the satellite's various frequency points, and the navigation messages of the satellite's various frequency points to obtain multiple data verification results further includes: Input the navigation message into a preset majority decision algorithm and output decision result parameters; When the navigation message is greater than or equal to the preset decision ratio of the decision result parameters, determine that the data verification result is that the navigation message is correct; When the navigation message is less than the preset decision ratio of the decision result parameters, determine that the data verification result is that the navigation message is incorrect.

5. The method for determining the cause of satellite monitoring data anomaly according to claim 4, characterized in that The first preset condition includes at least one of the following: Among the multiple data verification results, the ratio of the amount of data determined to pass the inter-frequency consistency detection and the navigation message is correct to the amount of data determined to be correct for the navigation message is less than the first preset ratio threshold; Among the multiple data verification results, the ratio of the amount of data determined to pass the cross-verification of the carrier and the navigation message is correct to the amount of data determined to be correct for the navigation message is less than the second preset ratio threshold; Among the multiple data verification results, the ratio of the amount of data determined to pass the cross-verification of the navigation message and the navigation message is correct to the amount of data determined to be correct for the navigation message is less than the third preset ratio threshold.

6. The method for determining the cause of abnormal satellite monitoring data according to claim 4, wherein The method further includes: When the multiple data verification results do not meet the first preset condition, divide the multiple monitoring stations into multiple preset regions according to the coordinate data of the multiple monitoring stations; When the multiple data verification results of the same satellite collected by the monitoring stations in the first region among the multiple preset regions meet the second preset condition, determine that the reason for the abnormal satellite monitoring data is interference in the first region, and the first region is any one of the multiple preset regions.

7. The method for determining the cause of abnormal satellite monitoring data according to claim 6, wherein The second preset condition includes at least one of the following: Among the multiple data verification results of the satellite, the amount of data determined to be incorrect for the navigation message is greater than or equal to the first preset threshold; Among the multiple data verification results of the satellite, the amount of data determined to fail the inter-frequency consistency detection and the navigation message is correct is greater than or equal to the second preset threshold; Among the multiple data verification results of the satellite, the amount of data determined to fail the cross-verification of the carrier and the navigation message is correct is greater than or equal to the third preset threshold; Among the multiple data verification results of the satellite, the amount of data determined to have failed the cross-verification of the navigation message and the correct navigation message is greater than or equal to a fourth preset threshold.

8. The method for determining the cause of abnormal satellite monitoring data according to claim 4, characterized in that The method further includes: When the ratio of the amount of data determined to have passed the cross-verification of the navigation message and the correct navigation message to the amount of data determined to be correct in the multiple data verification results is less than a third preset ratio threshold, calculate the Doppler correction based on the multiple third indicators corresponding to the multiple data verification results determined to be correct for the navigation message.

9. The method for determining the cause of abnormal satellite monitoring data according to claim 8, wherein The calculating the Doppler correction based on the multiple third indicators corresponding to the multiple data verification results determined to be correct for the navigation message includes: Calculating the average value of the multiple third indicators and determining the average value as the Doppler correction; or, Using the multiple third indicators as input values of the least squares method and outputting the Doppler correction; or, Using the multiple third indicators as input values of a preset filtering algorithm and outputting the Doppler correction.

10. The method for determining the cause of abnormal satellite monitoring data according to claim 8, characterized in that, The method further includes: Obtaining satellite report information released by a Global Navigation Satellite System (GNSS) provider or the International GNSS Service (IGS), where the satellite report information includes whether the satellite is determined to be an abnormal satellite, whether the preset multiple regions to which the multiple monitoring stations belong are determined to have regional interference, the Doppler correction, and the navigation message; Calculating the probability value that the satellite determination information determined based on the multiple data verification results does not match each type of information in the satellite report information, where the satellite determination information includes whether the satellite is determined to be an abnormal satellite, whether the preset multiple regions to which the multiple monitoring stations belong are determined to have regional interference, the Doppler correction, and the navigation message; When the probability value that each type of information does not match exceeds a preset probability threshold, adjust the preset threshold applied in the data consistency verification.

11. The method for determining the cause of abnormal satellite monitoring data according to claim 10, characterized in that, The adjusting the preset threshold applied in the data consistency verification when the probability value that each type of information does not match exceeds a preset probability threshold includes: When the probability value that the navigation message does not match exceeds a preset probability threshold, adjust the preset decision ratio; When the probability value that whether the satellite is determined to be an abnormal satellite does not match exceeds a preset probability threshold, adjust at least one of the first preset ratio threshold, the second preset ratio threshold, the third preset ratio threshold, the first preset indicator threshold, the second preset indicator threshold, and the third preset indicator threshold; When the probability value that whether the preset multiple regions to which the multiple monitoring stations belong are determined to have regional interference does not match exceeds a preset probability threshold, adjust at least one of the first preset ratio threshold, the second preset ratio threshold, the third preset ratio threshold, and the sizes of the preset multiple regions; When the probability value that the Doppler correction does not match exceeds a preset probability threshold, switch the algorithm for calculating the Doppler correction, or adjust the parameters of the algorithm used to calculate the Doppler correction.

12. An apparatus for determining the cause of abnormal satellite monitoring data, characterized in that, Includes: An acquisition module, configured to acquire multiple sets of satellite monitoring data of the same satellite collected by multiple monitoring stations, where the satellite monitoring data includes at least one of the following: the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation message of each frequency point of the satellite; A verification module, configured to perform data consistency verification on each set of satellite monitoring data according to at least one of the carrier wavelengths of each frequency point of the satellite, the Doppler frequency shift values of each frequency point of the satellite, the carrier observations of each frequency point of the satellite, and the navigation message of each frequency point of the satellite, to obtain multiple data verification results; A determination module, configured to determine that the reason for the anomaly of the satellite monitoring data is caused by an abnormal satellite when the multiple data verification results meet a first preset condition; The satellite monitoring data includes the carrier wavelengths and Doppler frequency shift values of each frequency point of the satellite; The verification module is specifically configured to: For each set of satellite monitoring data, perform the following operations respectively: Calculate a first index characterizing the consistency of the Doppler frequency shift values of each frequency point according to the Doppler frequency shift values and the carrier wavelengths of each frequency point of the satellite; When the first index is greater than or equal to a first preset index threshold, determine that the data verification result fails the inter-frequency consistency detection; When the first index is less than the first preset index threshold, determine that the data verification result passes the inter-frequency consistency detection.

13. The device for determining the cause of abnormal satellite monitoring data according to claim 12, characterized in that, The device further includes: A division module, configured to divide the multiple monitoring stations into a preset multiple regions according to the coordinate data of the multiple monitoring stations when the multiple data verification results do not meet the first preset condition; The determination module is further configured to determine that the reason for the anomaly of the satellite monitoring data is caused by interference in any one of the preset multiple regions when the multiple data verification results of the satellite collected by the monitoring stations in any one of the preset multiple regions meet a second preset condition.

14. An apparatus for determining the cause of abnormal satellite monitoring data, characterized in that, including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where when the computer program is executed by the processor, it implements the method for determining the reason for the anomaly of the satellite monitoring data according to any one of claims 1 to 11.

15. A computer-readable storage medium, characterized in that, An information transfer implementation program is stored on the computer-readable storage medium, and when the program is executed by the processor, it implements the method for determining the reason for the anomaly of the satellite monitoring data according to any one of claims 1 to 11.

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