A method, device and equipment for identifying GNSS terminal environment availability

Abstract

This application discloses a method, apparatus, and device for identifying the environmental availability of a GNSS terminal. The method comprises: acquiring GNSS observation data from a global navigation satellite system (GNSS); determining a target scene type in the environment in which the GNSS terminal resides based on the GNSS observation data; and determining the availability of the environment in which the GNSS terminal resides based on the target scene type and the movement speed of the GNSS terminal. The method for identifying the environmental availability of a GNSS terminal provided in this application can effectively reduce situations where users are misled by positioning errors or low positioning accuracy, thereby effectively improving the user experience.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a method, apparatus and device for identifying the environmental availability of a GNSS terminal. Background Art

[0002] The Global Navigation Satellite System (GNSS), as a technology that uses navigation satellites to provide navigation and positioning for users on the ground, at sea, in the air, and in space, has been increasingly widely used in work and life.

[0003] Currently, when performing positioning on a GNSS terminal, a confidence level for positioning accuracy is typically calculated based on certain metrics within the positioning algorithm. This confidence level is then output as a reference for actual positioning accuracy. In environments such as occlusion and semi-occlusion, actual positioning accuracy is often lower. However, because the confidence level is calculated based on certain metrics within the positioning algorithm, a significant discrepancy between the confidence level and actual positioning accuracy can often occur. This can mislead users and negatively impact their experience. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, apparatus, and device for identifying the availability of a GNSS terminal environment, which can avoid misleading users and improve user experience.

[0005] The technical solution of this application is as follows:

[0006] A method for identifying the availability of a GNSS terminal environment is provided, comprising:

[0007] Obtaining GNSS observation data;

[0008] determining a target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data;

[0009] The availability of the environment in which the GNSS terminal is located is determined according to the target scene type and the moving speed of the GNSS terminal.

[0010] In some embodiments, determining the availability of the environment in which the GNSS terminal is located according to the target scene type and the moving speed of the GNSS terminal includes:

[0011] When the moving speed is less than a preset speed threshold, M target scene types within the target time period are obtained; M is a positive integer;

[0012] Determining the number of open scenes in the M target scene types and the target proportion of the M target scene types;

[0013] When the target proportion is greater than the preset proportion, it is determined that the environment in which the GNSS terminal is located is available.

[0014] In some embodiments, determining the availability of the environment in which the GNSS terminal is located according to the target scene type and the moving speed of the GNSS terminal includes:

[0015] When the moving speed is greater than or equal to a preset speed threshold, obtaining a target scene type of the current environment;

[0016] When the target scene type of the environment at the current moment is an open scene, it is determined that the environment where the GNSS terminal is located is available.

[0017] In some embodiments, determining the target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data includes:

[0018] Determining a first preset condition of an identification parameter corresponding to an open scene;

[0019] When the GNSS observation data satisfies a first preset condition of the identification parameter, determining that the environment in which the GNSS terminal is located is an open scene;

[0020] The first preset condition includes at least three of the following:

[0021] The total number of visible satellites of the satellite system is greater than a first preset satellite number threshold;

[0022] The number of visible satellites of each satellite system is greater than a second preset satellite number threshold;

[0023] The average CN0 value of visible satellites of the satellite system is greater than or equal to a first preset CN0 threshold;

[0024] There are satellite systems in which the number of satellites having CN0 greater than the first preset carrier-to-noise ratio has a first ratio greater than or equal to a first preset ratio threshold in the number of satellites in the corresponding satellite system;

[0025] A second proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites is less than a second preset proportion threshold;

[0026] A third proportion of the number of satellites in the visible satellites of each satellite system that do not experience a cycle slip to the number of satellites in the corresponding satellite system is less than a third preset proportion threshold;

[0027] The number of satellites in each satellite system that do not experience a cycle slip is greater than a third preset satellite number threshold.

[0028] In some embodiments, determining the target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data includes:

[0029] Determining a second preset condition of the identification parameter corresponding to the occlusion scene;

[0030] When the GNSS observation data satisfies a second preset condition of the identification parameter, determining that the target scene type of the environment in which the GNSS terminal is located is an occlusion scene;

[0031] The second preset condition includes any one of the following:

[0032] The total number of visible satellites of the satellite system is less than or equal to a fourth preset satellite number threshold;

[0033] Among the satellite systems, there is a first satellite system whose number of satellites is smaller than a fifth preset satellite number threshold;

[0034] The CN0 values ​​of the visible satellites of the satellite system satisfy a first sub-condition, and a fourth proportion of the total number of satellites experiencing cycle slips among the visible satellites of the satellite system in the sum of the number of satellites in each satellite system is greater than a fourth preset proportion threshold. The first sub-condition includes: a maximum CN0 value of the visible satellites of the satellite system is less than a second preset CN0 threshold, an average CN0 value of the visible satellites of the satellite system is less than a third preset CN0 threshold, and at least one of a second satellite system exists in the satellite system, where the second satellite system is a satellite system whose number of satellites having CN0 values ​​less than a second preset carrier-to-noise ratio in its corresponding satellite system has a fifth proportion less than a fifth preset proportion threshold.

[0035] A sixth proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than a sixth preset proportion threshold;

[0036] A third satellite system exists among the satellite systems, and the number of satellites in each of the satellite systems that do not experience a cycle slip is less than or equal to a sixth preset satellite number threshold; the third satellite system is a satellite system in which a seventh proportion of the number of satellites experiencing a cycle slip in the number of satellites in the corresponding satellite system is greater than a seventh preset proportion threshold;

[0037] The average CN0 value of the visible satellites of the satellite system is less than a fourth preset CN0 threshold, a second proportion of the total number of satellites with cycle slips among the visible satellites of the satellite system to the total number of satellites of the satellite systems is greater than an eighth preset proportion threshold, and there is a satellite system in which the eighth proportion of the number of satellites with cycle slips to the total number of satellites of the corresponding satellite system is greater than a ninth preset proportion threshold;

[0038] A ninth proportion of the number of satellites within the preset elevation angle interval in the sum of the number of satellites in the satellite systems is less than a tenth preset proportion threshold; a tenth proportion of the number of satellites in any quadrant of the preset azimuth quadrant in the sum of the number of satellites in the satellite systems is greater than an eleventh preset proportion threshold.

[0039] In some embodiments, the scene type further includes a semi-occluded scene;

[0040] The determining, based on the GNSS observation data, the target scene type of the environment in which the GNSS terminal is located, further includes:

[0041] When the GNSS observation data does not satisfy the first preset condition and does not satisfy the second preset condition, it is determined that the target scene type of the environment in which the GNSS terminal is located is a semi-occluded scene.

[0042] In a second aspect, a GNSS terminal environment availability identification device is provided, comprising:

[0043] Acquisition module, used to obtain global navigation satellite system GNSS observation data;

[0044] A scene determination module, configured to determine a target scene type of an environment in which a GNSS terminal is located based on the GNSS observation data;

[0045] The environment determination module is configured to determine the availability of the environment in which the GNSS terminal is located according to the target scene type and the moving speed of the GNSS terminal.

[0046] In a third aspect, an electronic device is provided, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the GNSS terminal environment availability identification method as described in any one of the first aspects.

[0047] In a fourth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the GNSS terminal environment availability identification method as described in any one of the first aspects are implemented.

[0048] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0049] The GNSS terminal environment availability identification method, device, and equipment provided in the embodiments of the present application can determine the scene type in which the GNSS terminal is located based on GNSS observation data, and determine the availability of the environment in which the GNSS terminal is located based on the scene type in which the GNSS terminal is located and the moving speed of the GNSS terminal. In this way, on the basis of achieving GNSS terminal positioning, the availability of the environment in which the GNSS terminal is located can also be provided. That is, while the GNSS terminal provides positioning services, it can also provide the availability of the current environment for user reference. If the environment is available, it means that the current positioning accuracy is high, otherwise it means that the current positioning accuracy is low. In this way, the environmental availability can be output as a reference for positioning accuracy, thereby effectively reducing the situation where users are misled due to positioning errors or low positioning accuracy, and effectively improving the user experience.

[0050] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0052] Figure 1 This is a flow chart of a method for identifying the availability of a GNSS terminal environment provided in an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of an elevation angle and an azimuth angle provided in an embodiment of the present application;

[0054] Figure 3 This is a flow chart of another method for identifying the availability of a GNSS terminal environment provided in an embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of the structure of a GNSS terminal environment availability identification device provided in an embodiment of the present application;

[0056] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make those of ordinary skill in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. 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 merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0058] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples consistent with certain aspects of the present application as detailed in the appended claims.

[0059] Based on the background technology, it can be known that in the prior art, when the GNSS terminal is in different environments such as occlusion scenes and semi-occlusion scenes, there may be a large difference between the confidence and the actual positioning accuracy, which will mislead the user and affect the user experience.

[0060] As an example, when users use GNSS terminals for precise point positioning (PPP) based on satellite-based services, they are often very concerned about the solution type and positioning accuracy (hereinafter collectively referred to as confidence) output by the GNSS terminal. The solution type and confidence can usually be calculated based on certain indicators in the positioning algorithm. For example, the confidence can usually be calculated based on the variance of the position parameters, the residual error of the observation value, etc. In most environments such as open scenes, the confidence output by the GNSS terminal is usually consistent with the actual positioning accuracy. In more complex environments such as occluded scenes and semi-occluded scenes, even if the solution type output by the GNSS terminal is a PPP fixed solution, its actual positioning accuracy may be relatively large, even reaching above the meter level, while the confidence output by the GNSS terminal may still be at the centimeter level. In this way, there will be a situation where the confidence output by the GNSS terminal is significantly different from the actual positioning accuracy, which will mislead the user.

[0061] Based on the above findings, the embodiments of the present application provide a method, device and equipment for identifying the availability of a GNSS terminal environment, which can determine the scene type in which the GNSS terminal is located based on GNSS observation data, and determine the availability of the environment in which the GNSS terminal is located based on the scene type in which the GNSS terminal is located and the moving speed of the GNSS terminal. In this way, on the basis of achieving GNSS terminal positioning, the availability of the environment in which the GNSS terminal is located can also be provided, that is, while providing positioning services, the GNSS terminal can also provide the availability of the current environment for user reference. If the environment is available, it means that the current positioning accuracy is high, otherwise it means that the current positioning accuracy is low. In this way, the environmental availability can be output as a reference for positioning accuracy, thereby effectively reducing the situation where users are misled due to positioning errors or low positioning accuracy, and effectively improving the user experience.

[0062] The following describes the GNSS terminal environment availability identification method provided in the embodiments of the present application with reference to the accompanying drawings.

[0063] Figure 1 The flowchart of a method for identifying the availability of a GNSS terminal environment provided by an embodiment of the present application is shown. The execution subject of the method may be a server or a server cluster. Figure 1 As shown, the method for identifying the availability of a GNSS terminal environment provided in an embodiment of the present application may include the following steps:

[0064] S110, obtaining global navigation satellite system GNSS observation data.

[0065] As an example, when providing positioning services to GNSS terminals, GNSS observation data may also be obtained. The GNSS observation data may be observation data from a receiver, and may include the number of GNSS satellites, as well as the altitude, frequency, carrier-to-noise ratio, pseudorange, Doppler observation value, and carrier of each satellite.

[0066] S120: Determine a target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data.

[0067] As an example, after acquiring GNSS observation data, the scene type of the environment in which the GNSS terminal is located, i.e., the target scene type, can be determined based on the aforementioned GNSS observation data. For example, the scene type of the environment in which the GNSS terminal is located can be determined to be an open scene, an obstructed scene, or a semi-obstructed scene.

[0068] S130: Determine the availability of the environment in which the GNSS terminal is located according to the target scene type and the moving speed of the GNSS terminal.

[0069] As an example, considering the moving speed of the GNSS terminal, it may also cause positioning errors or low positioning accuracy, resulting in the actual positioning accuracy not being consistent with the confidence level, or even a large difference. Therefore, after determining the target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data, the moving speed of the GNSS terminal at the current moment can also be determined, such as the moving speed of the GNSS terminal can be determined based on the Doppler observation value in the GNSS observation data. Then, based on the target scene type of the environment in which the GNSS terminal is located and the moving speed of the GNSS terminal, the availability of the environment in which the GNSS terminal is located is determined. In this way, the user can further use the availability of the environment in which the GNSS terminal is located as a reference based on the positioning information and confidence level output by the GNSS terminal. If the environment in which the GNSS terminal is located is available, it means that the current actual positioning accuracy is high and the positioning accuracy is high; conversely, if the environment in which the GNSS terminal is located is unavailable, it means that the current actual positioning accuracy is low and the positioning accuracy is low.

[0070] The GNSS terminal environment availability identification method, device, and equipment provided in the embodiments of the present application can determine the scene type in which the GNSS terminal is located based on GNSS observation data, and determine the availability of the environment in which the GNSS terminal is located based on the scene type in which the GNSS terminal is located and the moving speed of the GNSS terminal. In this way, on the basis of achieving GNSS terminal positioning, the availability of the environment in which the GNSS terminal is located can also be provided. That is, while the GNSS terminal provides positioning services, it can also provide the availability of the current environment for user reference. If the environment is available, it means that the current positioning accuracy is high, otherwise it means that the current positioning accuracy is low. In this way, the environmental availability can be output as a reference for positioning accuracy, thereby effectively reducing the situation where users are misled due to positioning errors or low positioning accuracy, and effectively improving the user experience.

[0071] In some embodiments, when the moving speed of the GNSS terminal is less than a preset speed threshold and the target scene type is an open scene, it can be determined that the GNSS environment is available. Accordingly, the specific implementation of the above step S130 may include:

[0072] When the moving speed is less than a preset speed threshold, M target scene types within the target period are obtained;

[0073] Determine the target ratio of the number of open scenes in the M target scene types to the target ratio of the M target scene types;

[0074] When the target ratio is greater than the preset ratio, it is determined that the environment in which the GNSS terminal is located is available.

[0075] The preset speed threshold may be a predetermined maximum allowable speed value, and the preset speed threshold may range from 1 m / s to 20 m / s, such as 2 m / s, 5 m / s, 8 m / s, 10 m / s, 12 m / s, 15 m / s, 18 m / s, and the like. If the moving speed of the GNSS terminal is less than the preset speed threshold, it may be considered that the environment in which the GNSS terminal is located is changing slowly. In this case, the environmental availability may be determined based on the M target scene types within the target time period. Conversely, it may be considered that the environment in which the GNSS terminal is located is changing rapidly. In this case, the environmental availability may be determined based on the target scene type currently in which the GNSS terminal is located.

[0076] The target period can be a period with a preset interval from the current moment. The target period may include the current moment or may not include the current moment. Accordingly, the M target scene types may include only M historical target scene types, or may include the current target scene type and M-1 historical target scene types.

[0077] M is a positive integer, M∈[2,20], such as 4, 8, 10, 15, etc.

[0078] As an example, when determining the availability of the environment in which the GNSS terminal is located based on the target scene type and the movement speed of the GNSS terminal, a preset speed threshold can be obtained, and the movement speed of the GNSS terminal can be compared with the preset speed threshold to determine whether the movement speed of the GNSS terminal is less than the preset speed threshold. If the movement speed of the GNSS terminal is less than the preset speed threshold, it can be considered that the movement speed of the GNSS terminal is low. In this case, a target time period can be determined, and M target scene types within the target time period can be obtained. Then, the number of scene types that are open scenes among the M target scene types can be counted, and the proportion of this number in the M target scene types, i.e., the target proportion, can be calculated. Thereafter, a preset proportion can be obtained, such as 0.5, 0.7, 0.8, etc., and the preset proportion can be compared with the target proportion to determine whether the target proportion is greater than the preset proportion. If the target proportion is greater than the preset proportion, it can be determined that the environment in which the GNSS terminal is located is an open scene, and in this case, the environment can be considered available.

[0079] It is understood that M can also be 1, in which case the M target scene types are the target scene types of the environment currently located by the GNSS terminal. Accordingly, if the target scene type is an open scene and the movement speed of the GNSS terminal is less than a preset speed threshold, the environment can also be considered available. The environment availability flag can also be set to 1 if the environment is available, and otherwise set to 0.

[0080] Because the environment in which the GNSS terminal is located changes slowly when the GNSS terminal's speed is low, the environment in which the GNSS terminal is located generally does not change significantly during the target period. Therefore, based on the GNSS terminal's speed, the proportion of open scenes among the M target scene types is combined to determine the availability of the GNSS terminal's environment. This can improve the accuracy of the determined environment availability, thereby further preventing user misleading and improving the user experience.

[0081] In some embodiments, when the GNSS terminal moves at a high speed, the environmental availability may be determined based on the target scene type at the current moment. Accordingly, the specific implementation of the above step S130 may further include:

[0082] When the moving speed is greater than or equal to the preset speed threshold, the target scene type of the current environment is obtained;

[0083] When the target scene type of the environment at the current moment is an open scene, it is determined that the environment in which the GNSS terminal is located is available.

[0084] As an example, considering that the environment in which the GNSS terminal is located changes rapidly when the GNSS terminal is moving at a high speed, when the GNSS terminal's moving speed is greater than or equal to a preset speed threshold, the target scene type of the environment in which the GNSS terminal is currently located can be obtained to determine whether the target scene type is an open scene. If the target scene type of the environment in which the GNSS terminal is currently located is an open scene, the environment in which the GNSS terminal is located can be considered to be usable.

[0085] In this way, when the GNSS terminal is moving at a high speed, the current target scene type is usually more representative of the environment the GNSS terminal is in. Therefore, determining the environmental availability based on the target scene type of the environment the GNSS terminal is currently in can further improve the accuracy of the determined environmental availability of the GNSS terminal.

[0086] In some embodiments, considering that parameters such as the number of observed satellites, CN0, cycle slip ratio, altitude angle, and azimuth angle distribution may vary under different environments, scene type identification can be performed based on these characteristics to determine the availability of the environment. When the GNSS observation data meets the preset conditions corresponding to the open scene, it can be determined that the environment in which the GNSS terminal is located is an open scene. Accordingly, the specific implementation of the above step S120 may include:

[0087] Determining a first preset condition of an identification parameter corresponding to an open scene;

[0088] When the GNSS observation data satisfies a first preset condition of the identification parameter, determining that the environment in which the GNSS terminal is located is an open scene;

[0089] The first preset condition may include at least three of the following:

[0090] The total number of visible satellites of the satellite system is greater than a first preset satellite number threshold;

[0091] The number of visible satellites of each satellite system is greater than a second preset satellite number threshold;

[0092] The average CN0 value of visible satellites of the satellite system is greater than or equal to a first preset CN0 threshold;

[0093] There are satellite systems in which the number of satellites having CN0 greater than a first preset carrier-to-noise ratio has a first ratio greater than or equal to a first preset ratio threshold in the number of satellites in the corresponding satellite system;

[0094] A second proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites is less than a second preset proportion threshold;

[0095] a third proportion of the number of satellites in each satellite system that do not experience a cycle slip in the visible satellites of the respective satellite systems to the number of satellites in the respective corresponding satellite systems is less than a third preset proportion threshold;

[0096] The number of satellites in each satellite system that do not experience a cycle slip is greater than a third preset satellite number threshold.

[0097] As an example, when the GNSS observation data meets the preset conditions (i.e., the first preset conditions) of the identification parameters corresponding to the open scene, it can be determined that the environment in which the GNSS terminal is located is an open scene, that is, the GNSS terminal is not blocked by other objects. The first preset conditions may include:

[0098] 1) The total number of visible satellites in the satellite system is greater than a first preset satellite number threshold. Since there are typically multiple observable satellite systems, such as one or more of the Global Positioning System (GPS), GLONASS, Galileo, and BeiDou satellite navigation systems, the total number of visible satellites in the satellite system may be the sum of the number of visible satellites in each of the multiple satellite systems. The specific value of the first preset satellite number threshold can be set according to actual needs.

[0099] 2) The number of visible satellites of each satellite system is greater than a second preset satellite number threshold. The specific value of the second preset threshold can be set according to actual conditions, such as 5, 6, 8, etc.

[0100] 3) The average CN0 value of the visible satellites of the satellite system is greater than or equal to a first preset CN0 threshold. The average carrier-to-noise ratio CN0 value of the visible satellites of the satellite system is the average CN0 value of the visible satellites of the plurality of satellite systems observed. The specific value of the first preset CN0 threshold can be set to a value such as 30 dB-HZ, 35 dB-HZ, or other value as needed.

[0101] 4) There are satellite systems in which the number of satellites with CN0 greater than the first preset carrier-to-noise ratio has a first ratio greater than or equal to a first preset ratio threshold. The first ratio may be the ratio of the number of satellites with CN0 greater than the first preset carrier-to-noise ratio in each of the observed satellite systems to the number of satellites in the respective satellite systems. The first preset ratio threshold may be a value such as 0.5 or 0.6, or may also be set to another value. For example, the observed systems include GPS, GLONASS, GALILEO, and BeiDou satellite navigation systems, with the number of satellites in each satellite system being A, B, C, and D, and the number of satellites in each satellite system being a, b, c, and d being greater than the first preset carrier-to-noise ratio threshold. Then, the first ratio corresponding to GPS is a / A, the first ratio corresponding to GLONASS is b / B, the first ratio corresponding to GALILEO is c / C, and the first ratio corresponding to the BeiDou satellite navigation system is d / D.

[0102] 5) A second ratio of the number of satellites experiencing cycle slips in the visible satellites of the satellite system to the total number of satellites is less than a second preset ratio threshold. The number of satellites experiencing cycle slips in the visible satellites of the satellite system may be the sum of the number of satellites experiencing cycle slips observed in each of the multiple satellite systems; the total number of satellites may be the sum of the number of satellites observed in each of the multiple satellite systems. The second preset ratio threshold may be 0.4, 0.5, or other values.

[0103] 6) A third ratio of the number of satellites in each satellite system that have not cycle slipped in view to the number of satellites in the corresponding satellite system is less than a third preset ratio threshold. The third preset ratio threshold can be set based on actual conditions, such as 0.4, 0.5, etc.

[0104] 7) The number of satellites in each satellite system that do not experience a cycle slip is greater than a third preset satellite number threshold. The third preset satellite number threshold can be set to a value such as 4 or 6, or can also be set to other values ​​according to actual needs.

[0105] In a further embodiment, when the GNSS observation data meets the preset conditions corresponding to the occlusion scene, the target scene type can be determined to be an occlusion scene. Accordingly, the specific implementation of the above step S120 may further include:

[0106] Determining a second preset condition of the identification parameter corresponding to the occlusion scene;

[0107] When the GNSS observation data satisfies a second preset condition of the identification parameter, determining that the target scene type of the environment in which the GNSS terminal is located is an occlusion scene;

[0108] The second precondition includes any one of the following:

[0109] The total number of visible satellites of the satellite system is less than or equal to a fourth preset satellite number threshold;

[0110] Among the satellite systems, there is a first satellite system having a number of satellites less than a fifth preset satellite number threshold;

[0111] The CN0 values ​​of the visible satellites of the satellite system meet a first sub-condition, and a fourth proportion of the total number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than a fourth preset proportion threshold. The first sub-condition includes: a maximum CN0 value of the visible satellites of the satellite system is less than a second preset CN0 threshold, an average CN0 value of the visible satellites of the satellite system is less than a third preset CN0 threshold, and at least one of the following exists in the satellite system: a second satellite system is a satellite system in which a fifth proportion of the number of satellites having CN0 values ​​less than a second preset carrier-to-noise ratio in its corresponding satellite system is less than a fifth preset proportion threshold.

[0112] The sixth proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than a sixth preset proportion threshold;

[0113] There is a third satellite system in the satellite system, and the number of satellites in each satellite system that do not experience a cycle slip is less than or equal to a sixth preset satellite number threshold; the third satellite system is a satellite system in which the number of satellites that experience a cycle slip has a seventh proportion greater than the seventh preset proportion threshold in the number of satellites in the corresponding satellite system;

[0114] The average CN0 value of the visible satellites of the satellite system is less than a fourth preset CN0 threshold, a second proportion of the total number of satellites with cycle slips in the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than an eighth preset proportion threshold, and there is a satellite system in which the eighth proportion of the number of satellites with cycle slips in the number of satellites in its corresponding satellite system is greater than a ninth preset proportion threshold.

[0115] The ninth proportion of the number of satellites within the preset elevation angle interval in the total number of satellites in each satellite system is less than the tenth preset proportion threshold; the tenth proportion of the number of satellites in any quadrant of the preset azimuth angle quadrant in the total number of satellites in each satellite system is greater than the eleventh preset proportion threshold.

[0116] As an example, when the GNSS observation data satisfies the preset conditions (i.e., the second preset conditions) of the identification parameters corresponding to the occlusion scene, it can be determined that the environment in which the GNSS terminal is located is an occlusion scene, that is, the GNSS terminal is being blocked by trees, buildings, overhead structures, etc. The second preset conditions may include any one of the following:

[0117] 1) The total number of visible satellites in the satellite system is less than or equal to a fourth preset satellite number threshold. The fourth preset satellite number threshold may be the same as or different from the first preset satellite number threshold.

[0118] 2) Among the satellite systems, there exists a first satellite system whose number of satellites is less than a fifth preset satellite number threshold. For each satellite system, if the number of visible satellites is less than the fifth preset satellite number threshold, the satellite system may be considered the first satellite system. The fifth preset satellite number threshold may be set to a value such as 4 or 5, or may be set to another value as needed.

[0119] 3) The CN0 values ​​of the visible satellites of the satellite system meet the first sub-condition, and the fourth ratio of the total number of satellites experiencing cycle slips in the visible satellites of the satellite system to the total number of satellites in all satellite systems is greater than a fourth preset ratio threshold. The first sub-condition may include: the maximum CN0 value of the visible satellites of the satellite system is less than a second preset CN0 threshold; the average CN0 value of the visible satellites of the satellite system is less than a third preset CN0 threshold; and the presence of a second satellite system in the satellite system, where the second satellite system may be a satellite system in which the number of satellites with CN0 values ​​less than a second preset carrier-to-noise ratio in its corresponding satellite system has a fifth ratio less than a fifth preset ratio threshold. The second preset CN0 threshold may be 40 DH-HZ, 29 db-HZ, etc., the third preset CN0 threshold may be 30 db-HZ, 32 db-HZ, etc., and the fifth preset ratio threshold may be 0.25, 0.3, etc. The fourth preset ratio threshold may be 0.5, 0.6, etc., or the aforementioned thresholds may be set to other values ​​based on actual conditions.

[0120] 4) The sixth proportion of the number of satellites that have cycle slips among the visible satellites of the satellite system in the total number of satellites of each satellite system is greater than the sixth preset proportion threshold. Among them, the sixth preset proportion threshold can be set to a value such as 0.7, 0.75, 0.8, or can also be set to other values ​​as needed. Taking the observed systems including GPS, GLONASS, GALILEO, and Beidou satellite navigation systems, the number of satellites in each satellite system is A, B, C, and D respectively, and the number of satellites sending cycle slips in each satellite system is a, b1, c1, and d1 as an example, it can be obtained that the sixth proportion corresponding to GPS is a1 / A, the sixth proportion corresponding to GLONASS is b1 / B, the sixth proportion corresponding to GALILEO is c1 / C, and the sixth proportion corresponding to the Beidou satellite navigation system is d1 / D.

[0121] 5) A third satellite system exists in the satellite system, and the number of satellites in each satellite system that do not experience a cycle slip is less than or equal to a sixth preset satellite number threshold. The third satellite system is a satellite system in which the seventh proportion of the number of satellites experiencing a cycle slip in the corresponding satellite system is greater than a seventh preset proportion threshold. The sixth preset satellite number threshold can be set to a value such as 4, 5, or 7, and the seventh preset proportion threshold can be set to a value such as 0.5, 0.6, or 0.7.

[0122] 6) The average CN0 value of the visible satellites of the satellite system is less than a fourth preset CN0 threshold, the second ratio of the total number of satellites experiencing cycle slips in the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than an eighth preset ratio threshold, and there is a satellite system in which the eighth ratio of the number of satellites experiencing cycle slips to the total number of satellites in its corresponding satellite system is greater than a ninth preset ratio threshold. The fourth preset CN0 threshold can be set to 35dB-HZ, 38dB-HZ, etc., the eighth preset ratio threshold can be set to 0.5, 0.6, 0.65, etc., and the ninth preset ratio threshold can be set to 0.4, 0.5, 0.6, etc.

[0123] 7) The ninth proportion of the number of satellites within the preset elevation angle interval to the total number of satellites in each satellite system is less than the tenth preset proportion threshold; the tenth proportion of the number of satellites within any quadrant of the preset azimuth angle quadrant to the total number of satellites in each satellite system is greater than the eleventh preset proportion threshold. The tenth preset proportion threshold can be set to a value such as 0.5, 0.6, or 0.7, and the preset azimuth angle quadrant can be any one of 0-45 degrees, 45-90 degrees, 90-135 degrees, 135-180 degrees, ..., 315-360 degrees, or any one of 0-90 degrees, 90-180 degrees, 180-270 degrees, or 270-360 degrees, or one of multiple quadrants divided according to other angle ranges. The eleventh preset proportion threshold can be set to a value such as 0.1, 0.2, or 0.3, or can be set to other values ​​according to actual conditions.

[0124] In this way, the target scene type of the environment in which the GNSS terminal is located can be identified by combining multiple indicators such as a single satellite system, the number of satellites in multiple satellite systems, the CN0 of each satellite, the cycle slip ratio of the satellite system, the altitude angle and the azimuth angle. In this way, the accuracy of scene type identification can be improved, thereby further improving the accuracy of the determined environmental availability.

[0125] It should be noted that 1) the least squares method can be used to perform pseudo-range single-point positioning to calculate the station position, and then the elevation angle and azimuth angle of the station can be calculated according to formulas (1) to (3). As a specific example, the elevation angle and azimuth angle can be calculated as follows:

[0126]

[0127] Among them, Figure 1 As shown, ρ represents the unit vector of the sight direction, r sat , r rcv are the geocentric coordinates of the satellite and the station, respectively. The elevation angle E and azimuth angle A in the station-centric coordinate system can be calculated using equations (2) and (3).

[0128]

[0129]

[0130] 2) Satellite cycle slip detection can be done using the following methods:

[0131] Satellite cycle slip detection can be performed by combining the LLI flag provided by the receiver and the TubroEdit method. If a satellite cycle slip is detected by one of the methods, it is marked. The TubroEdit method mainly uses the GF combination and the MW combination for cycle slip detection. The MW combination can be shown as formula (4):

[0132]

[0133] Among them, φ1, φ2 and P1, P2 are the phase observation values ​​and pseudorange observation values ​​on the f1 and f2 frequency bands respectively; λ WL 、N WL They represent the wide-lane wavelength and wide-lane ambiguity respectively. The condition for judging whether the satellite has cycle slipped in the current epoch can be expressed as formula (5):

[0134]

[0135] in, is the mean value of the wide-lane ambiguity in the first t epochs; σ is the standard deviation of the first t epochs.

[0136] The GF combination cycle slip test quantity can be expressed as formula (6):

[0137]

[0138] Wherein, λ1 and λ2 represent the carrier wavelengths in the f1 and f2 frequency bands respectively.

[0139] When the following formula (7) is satisfied, it is considered that the satellite has a cycle slip in the current epoch:

[0140]

[0141] 3) The observation equation of Doppler observation velocity can be expressed as:

[0142]

[0143] in, is the Doppler shift observation value of satellite j, in Hz; dt r 、dt j are the clock difference change rates of the receiver clock and satellite j clock respectively; ε j is the observation noise; ρ j is the rate of change of the geometric distance between satellite j and the receiver antenna, which is expressed as:

[0144] ρ j =(r j -r r ) T (r j -r r ) / ρ j (9)

[0145] Among them, r j =(X j ,Y j ,Z j ) T ,rr =(X r ,Y r ,Z r ) T are the satellite position vector and receiver position vector, respectively. The satellite position vector, satellite velocity, and satellite clock rate of change can be calculated based on the ephemeris and clock error products. The receiver position, velocity, and clock error rate of change can be estimated as unknown parameters using the least squares method.

[0146] In some embodiments, the target scene type may also be a semi-occluded scene. Accordingly, the specific implementation of the above step S120 may further include the following steps:

[0147] When the GNSS observation data does not satisfy the first preset condition and does not satisfy the second preset condition, it is determined that the target scene type of the environment in which the GNSS terminal is located is a semi-occluded scene.

[0148] As an example, consider that the GNSS terminal's environment may not be an open scene or an obstructed scene. Accordingly, the GNSS observation data at this time neither meets the first preset condition corresponding to an open scene nor the second preset condition corresponding to an obstructed scene. In this case, the GNSS terminal can be considered to be in a semi-obstructed scene, such as a unilateral obstruction scene.

[0149] It is understandable that when the GNSS terminal is in a unilaterally blocked scenario, there is usually no significant deviation between the confidence level and the actual positioning accuracy. Therefore, when the target scenario type of the GNSS automatic environment is a semi-blocked scenario, the GNSS terminal environment can be set to be available. Alternatively, to better prevent users from being misled, the GNSS terminal environment can be set to be unavailable.

[0150] In order to make the GNSS terminal environment availability identification method provided in the embodiment of the present application clearer, Figure 3 The method provided in the embodiment of the present application is described. Figure 3 As shown, the GNSS terminal environment availability identification method may include the following steps:

[0151] S310, calculating the altitude angle and azimuth angle based on the GNSS observation data, performing cycle slip detection and marking, and performing Doppler velocity measurement on the GNSS terminal.

[0152] S320: Determine the target scene type of the environment in which the GNSS terminal is located.

[0153] As an example, when the GNSS observation data meets the first preset condition of the identification parameter corresponding to the open scene, the environment in which the GNSS terminal is located can be determined to be an open scene; when the GNSS observation data meets the second preset condition of the identification parameter corresponding to the occluded scene, the environment in which the GNSS terminal is located can be determined to be an occluded scene; when the GNSS observation data does not meet the first preset condition and does not meet the second preset condition, the target scene type of the environment in which the GNSS terminal is located is determined to be a semi-occluded scene.

[0154] S330: Determine whether the moving speed of the GNSS terminal is less than a preset speed threshold.

[0155] If the moving speed of the GNSS terminal is less than the preset speed threshold, step S340 is executed; otherwise, step S350 is executed.

[0156] S340: Determine the availability of the environment in which the GNSS terminal is located according to the M target scene types within the target time period.

[0157] As an example, when the moving speed is less than a preset speed threshold, M target scene types within the target time period can be obtained; M is a positive integer; the target proportion of the number of open scenes in the M target scene types is determined; when the target proportion is greater than the preset proportion, it is determined that the environment in which the GNSS terminal is located is available.

[0158] S350: Determine the availability of the environment in which the GNSS terminal is located according to the target scene type of the environment at the current moment.

[0159] As an example, when the moving speed is greater than or equal to a preset speed threshold, the target scene type of the current environment can be obtained; when the target scene type of the current environment is an open scene, it is determined that the environment in which the GNSS terminal is located is available.

[0160] The implementation principle and technical effects of the GNSS terminal environment availability identification method provided in the embodiment of the present application are similar to the above-mentioned method embodiments and will not be described in detail here for the sake of brevity.

[0161] Based on the same inventive concept, the embodiment of the present application also provides a GNSS terminal environment availability identification device. Figure 4 As shown, the GNSS terminal environment availability identification device 400 may include:

[0162] The acquisition module 410 may be used to acquire GNSS observation data;

[0163] The scene determination module 420 may be configured to determine a target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data;

[0164] The environment determination module 430 may be configured to determine the availability of the environment in which the GNSS terminal is located according to the target scene type and the moving speed of the GNSS terminal.

[0165] In some embodiments, the scene determination module 420 may include:

[0166] The first acquisition unit may be configured to acquire M target scene types within a target period when the moving speed is less than a preset speed threshold; M is a positive integer;

[0167] The first determining unit may be configured to determine the number of open scenes in the M target scene types and the target proportion of the open scenes in the M target scene types;

[0168] The second determining unit may be configured to determine that the environment in which the GNSS terminal is located is available when the target proportion is greater than a preset proportion.

[0169] In some embodiments, the environment determination module 430 may include:

[0170] The second acquisition unit may be configured to acquire the target scene type of the current environment when the moving speed is greater than or equal to a preset speed threshold;

[0171] The third determining unit may be configured to determine whether the environment in which the GNSS terminal is located is available when the target scene type of the environment at the current moment is an open scene.

[0172] In some embodiments, the scene determination module 420 may include:

[0173] A fourth determining unit may be configured to determine a first preset condition of an identification parameter corresponding to an open scene;

[0174] a fifth determining unit, configured to determine that the environment in which the GNSS terminal is located is an open scene when the GNSS observation data satisfies a first preset condition of the identification parameter;

[0175] The first preset condition includes at least three of the following:

[0176] The total number of visible satellites of the satellite system is greater than a first preset satellite number threshold;

[0177] The number of visible satellites of each satellite system is greater than a second preset satellite number threshold;

[0178] The average CN0 value of visible satellites of the satellite system is greater than or equal to a first preset CN0 threshold;

[0179] There are satellite systems in which the number of satellites having CN0 greater than the first preset carrier-to-noise ratio has a first ratio greater than or equal to a first preset ratio threshold in the number of satellites in the corresponding satellite system;

[0180] A second proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites is less than a second preset proportion threshold;

[0181] A third proportion of the number of satellites in the visible satellites of each satellite system that do not experience a cycle slip to the number of satellites in the corresponding satellite system is less than a third preset proportion threshold;

[0182] The number of satellites in each satellite system that do not experience a cycle slip is greater than a third preset satellite number threshold.

[0183] In some embodiments, the scene determination module 420 may include:

[0184] A sixth determining unit may be used to determine a second preset condition of the identification parameter corresponding to the occlusion scene;

[0185] A seventh determining unit may be configured to determine, when the GNSS observation data satisfies a second preset condition of the identification parameter, that the target scene type of the environment in which the GNSS terminal is located is an occlusion scene;

[0186] The second preset condition includes any one of the following:

[0187] The total number of visible satellites of the satellite system is less than or equal to a fourth preset satellite number threshold;

[0188] Among the satellite systems, there is a first satellite system whose number of satellites is smaller than a fifth preset satellite number threshold;

[0189] The CN0 values ​​of the visible satellites of the satellite system satisfy a first sub-condition, and a fourth proportion of the total number of satellites experiencing cycle slips among the visible satellites of the satellite system in the sum of the number of satellites in each satellite system is greater than a fourth preset proportion threshold. The first sub-condition includes: a maximum CN0 value of the visible satellites of the satellite system is less than a second preset CN0 threshold, an average CN0 value of the visible satellites of the satellite system is less than a third preset CN0 threshold, and at least one of a second satellite system exists in the satellite system, where the second satellite system is a satellite system whose number of satellites having CN0 values ​​less than a second preset carrier-to-noise ratio in its corresponding satellite system has a fifth proportion less than a fifth preset proportion threshold.

[0190] A sixth proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than a sixth preset proportion threshold;

[0191] A third satellite system exists among the satellite systems, and the number of satellites in each of the satellite systems that do not experience a cycle slip is less than or equal to a sixth preset satellite number threshold; the third satellite system is a satellite system in which a seventh proportion of the number of satellites experiencing a cycle slip in the number of satellites in the corresponding satellite system is greater than a seventh preset proportion threshold;

[0192] The average CN0 value of the visible satellites of the satellite system is less than a fourth preset CN0 threshold, a second proportion of the total number of satellites with cycle slips among the visible satellites of the satellite system to the total number of satellites of the satellite systems is greater than an eighth preset proportion threshold, and there is a satellite system in which the eighth proportion of the number of satellites with cycle slips to the total number of satellites of the corresponding satellite system is greater than a ninth preset proportion threshold;

[0193] A ninth proportion of the number of satellites within the preset elevation angle interval in the sum of the number of satellites in the satellite systems is less than a tenth preset proportion threshold; a tenth proportion of the number of satellites in any quadrant of the preset azimuth quadrant in the sum of the number of satellites in the satellite systems is greater than an eleventh preset proportion threshold.

[0194] In some embodiments, the scene type further includes a semi-occluded scene;

[0195] The scene determination module 420 may include:

[0196] The eighth determining unit may be configured to determine that the target scene type of the environment in which the GNSS terminal is located is a semi-occluded scene when the GNSS observation data does not satisfy the first preset condition and does not satisfy the second preset condition.

[0197] Figure 4 The GNSS terminal environment availability identification device shown can achieve Figure 1-Figure 3 The technical solutions and technical effects that can be achieved by the method embodiments shown are similar in specific implementation processes and principles, and for the sake of brevity, they will not be repeated here.

[0198] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0199] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer programs or instructions.

[0200] Specifically, the processor 501 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 embodiment of the present invention.

[0201] The memory 502 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 502 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. Where appropriate, the memory 502 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 502 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 502 is a non-volatile solid-state memory. In a specific embodiment, the memory 502 includes a read-only memory (ROM). Where appropriate, 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.

[0202] The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any one of the base station fault detection methods in the above embodiments.

[0203] In one example, the electronic device may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0204] The communication interface 503 is mainly used to implement communication between various modules, devices, units and / or devices in the embodiment of the present invention.

[0205] Bus 510 comprises hardware, software or both, couples the parts of electronic equipment to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry 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 suitable cases, bus 510 can comprise one or more buses.Although the embodiment of the present invention describes and shows specific bus, the present invention considers any suitable bus or interconnection.

[0206] The electronic device can execute the GNSS terminal environment availability identification method in the embodiment of the present invention, thereby achieving Figures 1 to 4 A method and apparatus for identifying the availability of a GNSS terminal environment are described.

[0207] In addition, in conjunction with the GNSS terminal environment availability identification method in the above embodiments, embodiments of the present invention may provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by a processor, any of the GNSS terminal environment availability identification methods in the above embodiments is implemented.

[0208] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0209] 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 unit, a function card or the like. When implemented in software, the elements of the present invention 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, ROMs, flash memories, erasable ROMs (EROMs), 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.

[0210] It should also be noted that the exemplary embodiments described herein describe methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the steps described above. In other words, the steps may be performed in the order described in the embodiments, or in a different order, or several steps may be performed simultaneously.

[0211] The above description is only a specific embodiment of the present invention. Those skilled in the art will clearly understand that for the convenience and brevity 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 invention is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention.

Claims

1. A method for identifying the availability of a GNSS terminal environment, characterized in that: include: Obtaining GNSS observation data; determining a target scene type of the environment in which the GNSS terminal is located based on the GNSS observation data; determining, according to the target scene type and the moving speed of the GNSS terminal, the availability of the environment in which the GNSS terminal is located; The determining, based on the target scene type and the moving speed of the GNSS terminal, the availability of the environment in which the GNSS terminal is located includes: When the moving speed is less than a preset speed threshold, M target scene types within the target time period are obtained; M is a positive integer; Determining the number of open scenes in the M target scene types and the target proportion of the M target scene types; When the target proportion is greater than the preset proportion, it is determined that the environment in which the GNSS terminal is located is available.

2. The method according to claim 1, characterized in that The determining, based on the target scene type and the moving speed of the GNSS terminal, the availability of the environment in which the GNSS terminal is located includes: When the moving speed is greater than or equal to a preset speed threshold, obtaining a target scene type of the current environment; When the target scene type of the environment at the current moment is an open scene, it is determined that the environment where the GNSS terminal is located is available.

3. The method according to claim 1, characterized in that The determining, based on the GNSS observation data, a target scene type of the environment in which the GNSS terminal is located, includes: Determining a first preset condition of an identification parameter corresponding to an open scene; When the GNSS observation data satisfies a first preset condition of the identification parameter, determining that the environment in which the GNSS terminal is located is an open scene; The first preset condition includes at least three of the following: The total number of visible satellites of the satellite system is greater than a first preset satellite number threshold; The number of visible satellites of each satellite system is greater than a second preset satellite number threshold; The average CN0 value of visible satellites of the satellite system is greater than or equal to a first preset CN0 threshold; There are satellite systems in which the number of satellites having CN0 greater than the first preset carrier-to-noise ratio has a first ratio greater than or equal to a first preset ratio threshold in the number of satellites in the corresponding satellite system; A second proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites is less than a second preset proportion threshold; A third proportion of the number of satellites in the visible satellites of each satellite system that do not experience a cycle slip to the number of satellites in the corresponding satellite system is less than a third preset proportion threshold; The number of satellites in each satellite system that do not experience a cycle slip is greater than a third preset satellite number threshold.

4. The method according to claim 3, characterized in that The determining, based on the GNSS observation data, the target scene type of the environment in which the GNSS terminal is located, includes: Determining a second preset condition of the identification parameter corresponding to the occlusion scene; When the GNSS observation data satisfies a second preset condition of the identification parameter, determining that the target scene type of the environment in which the GNSS terminal is located is an occlusion scene; The second preset condition includes any one of the following: The total number of visible satellites of the satellite system is less than or equal to a fourth preset satellite number threshold; Among the satellite systems, there is a first satellite system whose number of satellites is smaller than a fifth preset satellite number threshold; The CN0 values ​​of the visible satellites of the satellite system satisfy a first sub-condition, and a fourth proportion of the total number of satellites experiencing cycle slips among the visible satellites of the satellite system in the sum of the number of satellites in each satellite system is greater than a fourth preset proportion threshold. The first sub-condition includes: a maximum CN0 value of the visible satellites of the satellite system is less than a second preset CN0 threshold, an average CN0 value of the visible satellites of the satellite system is less than a third preset CN0 threshold, and at least one of a second satellite system exists in the satellite system, where the second satellite system is a satellite system whose number of satellites having CN0 values ​​less than a second preset carrier-to-noise ratio in its corresponding satellite system has a fifth proportion less than a fifth preset proportion threshold. A sixth proportion of the number of satellites experiencing cycle slips among the visible satellites of the satellite system to the total number of satellites in each satellite system is greater than a sixth preset proportion threshold; A third satellite system exists among the satellite systems, and the number of satellites in each of the satellite systems that do not experience a cycle slip is less than or equal to a sixth preset satellite number threshold; the third satellite system is a satellite system in which a seventh proportion of the number of satellites experiencing a cycle slip in the number of satellites in the corresponding satellite system is greater than a seventh preset proportion threshold; The average CN0 value of the visible satellites of the satellite system is less than a fourth preset CN0 threshold, a second proportion of the total number of satellites with cycle slips among the visible satellites of the satellite system to the total number of satellites of the satellite systems is greater than an eighth preset proportion threshold, and there is a satellite system in which the eighth proportion of the number of satellites with cycle slips to the total number of satellites of the corresponding satellite system is greater than a ninth preset proportion threshold; A ninth proportion of the number of satellites within the preset elevation angle interval in the sum of the number of satellites in the satellite systems is less than a tenth preset proportion threshold; a tenth proportion of the number of satellites in any quadrant of the preset azimuth quadrant in the sum of the number of satellites in the satellite systems is greater than an eleventh preset proportion threshold.

5. The method according to claim 4, characterized in that The scene types also include semi-occluded scenes; The determining, based on the GNSS observation data, the target scene type of the environment in which the GNSS terminal is located, further includes: When the GNSS observation data does not satisfy the first preset condition and does not satisfy the second preset condition, it is determined that the target scene type of the environment in which the GNSS terminal is located is a semi-occluded scene.

6. A GNSS terminal environment availability identification device, characterized in that: include: Acquisition module, used to obtain global navigation satellite system GNSS observation data; A scene determination module, configured to determine a target scene type of an environment in which a GNSS terminal is located based on the GNSS observation data; an environment determination module, configured to determine the availability of the environment in which the GNSS terminal is located based on the target scene type and the moving speed of the GNSS terminal; The environment determination module includes: A first acquiring unit is configured to acquire M target scene types within a target time period when the moving speed is less than a preset speed threshold; M is a positive integer; A first determining unit is configured to determine the number of open scenes in the M target scene types and the target proportion of the M target scene types; The second determining unit is configured to determine that the environment in which the GNSS terminal is located is available when the target proportion is greater than a preset proportion.

7. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for identifying the GNSS terminal environment availability according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the GNSS terminal environment availability identification method according to any one of claims 1 to 5 are implemented.

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