Satellite-based terminal positioning reliability determination method, satellite-based terminal, device and medium

Abstract

The embodiment of the present invention provides a method for determining the reliability of a satellite-based terminal's positioning, a satellite-based terminal, a device, and a medium, the method comprising: obtaining a GNSS observation value of a global navigation satellite system; obtaining a novelty variance through a Kalman filter based on the GNSS observation value; obtaining a fixed result through a Kalman filter and ambiguity fixation based on the GNSS observation value, the fixed result comprising a position parameter covariance and an observation value posterior residual; calculating the positioning reliability of the satellite-based terminal based on the novelty variance and the fixed result. According to the method of the embodiment of the present invention, the positioning reliability can be calculated based on the key parameters of the positioning reliability of the satellite-based terminal, and the reliability can be used to identify whether the PPPAR converges, and to remind the user of the real-time positioning accuracy level.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and in particular relates to a method, device, equipment and storage medium for determining the reliability of positioning of a satellite-based terminal. Background Art

[0002] Satellite-based terminal products can fix ambiguity by using the orbit, clock error and uncorrected phase delay product correction number of the received Global Navigation Satellite System GNSS satellite, thereby achieving centimeter-level positioning accuracy. This technology is called PPPAR technology.

[0003] It takes a certain amount of time for PPPAR to achieve centimeter-level positioning accuracy, and the convergence time of PPPAR will be affected by observation quality, product services and environment, and there is no reliable convergence evaluation standard yet. On the other hand, since the current positioning accuracy evaluation of satellite-based terminal products is generally a post-assessment method, there is no real-time positioning accuracy evaluation method yet. Therefore, when users use satellite-based terminal products for real-time positioning, they cannot promptly know whether the current positioning results are reliable.

[0004] Therefore, there is an urgent need for a satellite-based terminal positioning confidence determination method that can determine the real-time positioning accuracy confidence to identify whether the PPPAR converges and inform users of the real-time positioning accuracy level. Summary of the invention

[0005] The embodiment of the present invention provides a method for determining the positioning confidence of a satellite-based terminal, a satellite-based terminal, a device and a medium, which can determine the real-time positioning accuracy confidence.

[0006] In a first aspect, an embodiment of the present invention provides a method for determining the positioning reliability of a satellite-based terminal, the method comprising: acquiring global navigation satellite system GNSS observation values; obtaining an innovation variance through Kalman filtering based on the GNSS observation values; obtaining a fixed result through Kalman filtering and ambiguity fixation based on the GNSS observation values, the fixed result comprising a position parameter covariance and an observation posterior residual; and calculating the positioning reliability of the satellite-based terminal based on the innovation variance and the fixed result.

[0007] In an optional implementation manner, after calculating the positioning reliability of the satellite-based terminal, the method further includes:

[0008] The positioning confidence of the satellite-based terminal at the current epoch is smoothed through a sliding window according to the positioning confidence of multiple historical epochs to obtain the target confidence of the current epoch.

[0009] In an optional embodiment, in the case where the ambiguity is fixed with a fixed solution, the fixed result includes a fixed solution covariance and a fixed solution posterior residual;

[0010] In the case of ambiguity fixing without a fixed solution, the fixed results include the floating point solution covariance and the floating point solution posterior residual.

[0011] In an optional implementation, the positioning confidence of the satellite-based terminal includes horizontal direction confidence and elevation direction confidence.

[0012] In an optional implementation, calculating the location reliability of the satellite-based terminal based on the innovation variance and the fixed result includes:

[0013] Based on the innovation variance and the posterior residual of the observed value, calculate the innovation variance weighted posterior residual Euclidean distance;

[0014] The horizontal confidence is calculated based on the Euclidean distance of the posterior residual weighted by the innovation variance and the covariance of the position parameters in the horizontal direction.

[0015] In an optional implementation, calculating the location reliability of the satellite-based terminal based on the innovation variance and the fixed result includes:

[0016] Based on the innovation variance and the posterior residual of the observed value, calculate the innovation variance weighted posterior residual Euclidean distance;

[0017] The confidence in the elevation direction is calculated based on the Euclidean distance of the posterior residual weighted by the variance of the new information and the covariance of the position parameters in the elevation direction.

[0018] In an optional implementation, the horizontal confidence is calculated based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the horizontal direction, including:

[0019] According to the posterior residual Euclidean distance weighted by the innovation variance and the horizontal position parameter covariance, the horizontal confidence is calculated by the preset horizontal confidence function, where the preset horizontal confidence function is:

[0020]

[0021]

[0022] Among them, CF h is the horizontal confidence, ‖v‖ is the posterior residual Euclidean distance weighted by the innovation variance, σ EE , σ NN , σ EN , σ NE is the horizontal location parameter covariance, and var is the innovation variance.

[0023] In an optional implementation, the elevation direction confidence is calculated based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance of the elevation direction, including:

[0024] According to the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the elevation direction, the elevation direction confidence is calculated by the preset elevation direction confidence function, where the preset elevation direction confidence function is:

[0025]

[0026]

[0027] Among them, CF U is the confidence level in the elevation direction, ‖v‖ is the posterior residual Euclidean distance weighted by the variance of the new information, σ U is the location parameter covariance in the elevation direction, and var is the new information variance.

[0028] In a second aspect, an embodiment of the present invention provides a satellite-based terminal, including:

[0029] A data acquisition module configured to acquire global navigation satellite system GNSS observation values;

[0030] The filtering module is configured to obtain the variance of the new information through Kalman filtering based on the GNSS observation value;

[0031] The ambiguity fixing module is configured to obtain a fixed result based on the GNSS observation value through Kalman filtering and ambiguity fixing, and the fixed result includes the position parameter covariance and the observation value posterior residual;

[0032] A confidence calculation module is configured to calculate the positioning confidence of the satellite-based terminal based on the innovation variance and the fixed result;

[0033] The positioning module is configured to determine the positioning result of the satellite-based terminal according to the positioning reliability of the satellite-based terminal.

[0034] In a third aspect, an embodiment of the present invention provides a satellite-based terminal device, comprising: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method provided in the first aspect and any optional implementation manner in the first aspect.

[0035] In a fourth aspect, an embodiment of the present invention provides a computer storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the method provided in the first aspect and any optional implementation manner in the first aspect is implemented.

[0036] A method for determining the positioning reliability of a satellite-based terminal, a satellite-based terminal, a device and a medium according to an embodiment of the present invention can obtain global navigation satellite system GNSS observation values, and based on the GNSS observation values, obtain the key parameters of the positioning reliability of the satellite-based terminal, namely, the innovation variance, the position parameter covariance and the observation value posterior residual through Kalman filtering and ambiguity fixation; the positioning reliability is calculated based on the key parameters of the positioning reliability of the satellite-based terminal, and the reliability can be used to identify whether the PPPAR converges, and to remind the user of the real-time positioning accuracy level. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a schematic diagram of a flow chart of a method for determining the reliability of a satellite-based terminal position positioning provided by an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of a flow chart of a satellite-based terminal real-time positioning method provided by an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of a satellite-based terminal provided by an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of a satellite-based terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention, rather than to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0044] In order to better understand the present application, before introducing the specific implementation methods of the present application, the technical terms used in describing the implementation methods of the present application are first introduced.

[0045] (1) Global Navigation Satellite System (GNSS) refers to all satellite navigation systems, including global, regional and enhanced systems, such as the US GPS, Russia's Glonass, Europe's Galileo, China's BeiDou Satellite Navigation System, and related augmentation systems, such as the US WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System) and Japan's MSAS (Multi-purpose Transport Satellite Augmentation System), and also covers other satellite navigation systems that are under construction or to be built in the future. The international GNSS system is a complex combination of multiple systems, multiple levels and multiple modes.

[0046] (2) Precise Point Positioning (PPP): PPP is a technology that uses the precise satellite orbits and satellite clock errors calculated from observation data from several ground tracking stations around the world to perform positioning and calculation on the phase and pseudorange observations collected by a single receiver. It uses the first level of state domain spatial correction parameters (First Level of SSR, SSR1) product "orbit / clock correction number" and the second level of state domain spatial correction parameters (Second Level of SSR, SSR2) product "pseudorange / phase deviation correction number". It uses the carrier observation information of a single GNSS device, and on the basis of strictly considering the precise correction of various errors, adopts a reasonable parameter estimation strategy (such as the least squares method or Kalman filter), and simultaneously solves parameters such as user coordinates, receiver clock error, atmospheric delay and carrier phase ambiguity, so as to obtain centimeter to decimeter positioning accuracy on a global scale.

[0047] (3) Real-time Kinematic (RTK) is GNSS real-time differential positioning technology. Based on the relevant characteristics of various errors within the regional range, inter-station and inter-satellite double differences are constructed to eliminate or reduce the impact of various errors, thereby achieving centimeter-level positioning. In practical applications, it generally includes two measuring stations, namely the base station and the mobile station. The base station obtains observation data in real time and sends the known site coordinate information and observation data to the mobile station through a specific network protocol. The mobile station obtains observation data in real time and receives data from the base station at the same time. Using specific estimation methods, the high-precision position of the mobile station can be obtained in real time.

[0048] (4) Network Real-time Kinematic (NRTK) technology refers to the establishment of multiple evenly distributed continuous observation reference stations in a certain area, integrating the observation data of each reference station, constructing various error correction models, and generating corresponding error model correction numbers or virtual observation data. The mobile station uploads the probabilistic position, obtains the error model correction number or virtual observation value at the probabilistic position, and uses the RTK positioning method to obtain high-precision positioning results. In the conventional RTK working mode, there is only one base station, and the distance between the mobile station and the base station cannot be too long, generally less than 40km. In network RTK, there are multiple base stations, and users do not need to establish their own base stations. The distance between users and base stations can be extended to hundreds of kilometers. Network RTK reduces error sources, especially distance-related errors.

[0049] (5) Precise point positioning-ambiguity resolution (PPP-AR) PPP-AR technology is a PPP positioning technology that uses uncorrected phase fractional deviation products to fix the phase floating point ambiguity to an integer based on PPP technology. Generally, fixation can be achieved within 30 minutes.

[0050] (6) Regional reference network enhanced precise point positioning (PPP-RTK) PPP-RTK technology is a PPP positioning technology based on PPP-AR that uses ionosphere and troposphere delay information to accelerate PPP convergence speed. Generally, fixation can be achieved within 3 minutes.

[0051] Based on the above technical terms, the relevant technologies of GNSS positioning have been briefly introduced.

[0052] There are two main technologies that provide high-precision positioning services: one is NRTK technology that relies on a reference station network, and the other is precise point positioning technology (PPP). As precise point positioning technology becomes more mature, satellite-based precise point positioning technology has become a research hotspot. This technology can achieve single-point high-precision positioning services on a global scale, broadcasting precise correction products to users through satellites, thereby achieving high-precision single-point positioning. It has been widely used in high-precision agriculture, marine transportation, power inspection, and autonomous driving.

[0053] Satellite-based terminal products can achieve ambiguity fixation by using the received GNSS satellite orbits, clock errors, and uncorrected phase delay product corrections, thereby achieving centimeter-level positioning accuracy. This technology is called PPPAR technology. It takes a certain convergence time for PPPAR to achieve centimeter-level positioning accuracy, and the convergence time of PPPAR will be affected by the observation quality, product services, and environment. There is no reliable convergence evaluation standard, so users often need to wait for a certain amount of time to obtain reliable centimeter-level positioning accuracy. When using satellite-based terminal products for real-time positioning, users need to know whether the current positioning results are reliable. At present, the positioning accuracy evaluation of satellite-based terminal products is generally a post-assessment method, and a real-time positioning accuracy evaluation method has not yet appeared.

[0054] Therefore, based on the above problems, the present application provides a method for determining the positioning confidence of a satellite-based terminal, a satellite-based terminal, a device and a medium. The satellite-based terminal can provide real-time positioning accuracy confidence. The confidence indicator can not only serve as an indicator of whether the PPPAR converges, but also inform the user of the real-time positioning accuracy level, and can warn the user when the positioning accuracy is poor.

[0055] The following is combined with Figure 1 The present invention specifically introduces a method 100 for determining the reliability of a satellite-based terminal position provided in an embodiment of the present invention. The method can be applied to a satellite-based terminal. Figure 1 As shown, method 100 may include steps S101 - S104 .

[0056] Step S101, obtaining global navigation satellite system GNSS observation values.

[0057] The satellite-based terminal obtains GNSS observation values ​​of the global navigation satellite system, which may specifically include original position data, original code and carrier phase data, ephemeris data, etc. After obtaining the GNSS observation values, the data may be pre-processed to remove noise data in the GNSS observation values, thereby improving the accuracy of the GNSS observation values, and improving the subsequent processing efficiency, positioning accuracy, and the accuracy of the confidence calculation results.

[0058] In one example, the preprocessing of the GNSS initial data may include preliminary processing, pseudorange single point positioning processing, clock jump detection and repair, cycle slip detection and repair, and deletion of lone satellites and satellites with frequent cycle slips.

[0059] In this example, the preliminary processing mainly involves eliminating observation epochs in which the number of observed satellites is less than a preset number and eliminating observation data with missing observation types.

[0060] The pseudo-range single-point positioning processing is mainly to eliminate satellites with unhealthy ephemeris markings, low altitude angles, and low signal-to-noise ratios.

[0061] The purpose of deleting lone satellites and satellites with frequent cycle slips is to remove the observation data of satellites with fewer observation epochs and frequent cycle slips, as well as to remove the observation data of several epochs at the beginning and end of the observation.

[0062] Step S102, based on the GNSS observation value, obtain the new information variance through Kalman filtering.

[0063] Step S103, based on the GNSS observation value, a fixed result is obtained through Kalman filtering and ambiguity fixation, and the fixed result includes the position parameter covariance and the observation value posterior residual.

[0064] In the case where the ambiguity is fixed with a fixed solution, the fixed result includes the fixed solution covariance and the fixed solution a posteriori residual; in the case where the ambiguity is fixed without a fixed solution, the fixed result includes the floating point solution covariance and the floating point solution a posteriori residual. Step S103 may specifically be to perform ambiguity fixation based on the floating point solution of the Kalman filter.

[0065] For ease of understanding, the implementation of steps S102 - S103 and their corresponding confidence mathematical model are described below with a specific example.

[0066] When performing real-time precise point positioning, the linearization equation of GNSS observations is:

[0067] y=Hx+ε

[0068] Where y is the GNSS observation value, x is the unknown parameter vector, H is the linearization design matrix, and ε is the observation value noise.

[0069] The Kalman filter can be used to estimate the unknown parameter vector in real time. And its covariance matrix, which includes the covariance matrix of the user location parameters x, y, z and the location parameter northeast ENU direction, as shown below:

[0070]

[0071] Since the ambiguity parameter is a real number solution, so the unknown parameter vector estimate output by the Kalman filter is The use of ambiguity fixation can obtain integer solutions for ambiguity parameters. The unknown parameter vector estimates and their covariance matrix obtained after the integer ambiguity constraint filter are called fixed solutions.

[0072] The Kalman filter includes two steps: one-step prediction and observation update. In the observation update step, the new information reflects the combined impact of observation noise and measurement noise on the unknown parameter vector. The new information variance var can measure the magnitude of the impact. The smaller the variance, the greater the impact. Therefore, it can be used as the "weight" of the observation value in the filter. Therefore, the new information variance can be obtained through Kalman filtering based on the GNSS observation value based on the above formula (1), that is, the above step S102 is realized.

[0073] Generally, in order to test the error of the observed value, the posterior residual of the observed value can be used, and its expression is as follows:

[0074]

[0075] When the unknown parameter vector When it is a floating point solution, v is the floating point solution a posteriori residual, and H is the linearization design matrix. If the ambiguity is fixed successfully, the unknown parameter vector of the fixed solution can be used to obtain the fixed solution a posteriori residual. When there is a large error in the observation value, its a posteriori residual is often large, and part of its error will be absorbed by the unknown parameter vector, so that the unknown parameter vector estimate has a deviation, so the a posteriori residual can be used to reflect the accuracy of the unknown parameter vector estimate. Therefore, the above formula can be based on GNSS observations, through Kalman filtering and ambiguity fixation, to obtain the position parameter covariance and the observation value a posteriori residual, that is, to implement step S103.

[0076] Step S104: Calculate the positioning reliability of the satellite-based terminal based on the innovation variance and the fixed result.

[0077] As an example, the positioning confidence of the satellite-based terminal may include horizontal confidence and elevation confidence. In step S104, the covariance information of the position parameters, the posterior residual of the observation value and the variance of the innovation in the Kalman filter are comprehensively used to construct the confidence index CF of the precise single point positioning, including the horizontal confidence CF h and the elevation direction confidence CF U .

[0078] In one example, the horizontal confidence factor CF is calculated h The following steps may be specifically included:

[0079] Based on the innovation variance and the posterior residual of the observed value, the innovation variance weighted posterior residual Euclidean distance is calculated; according to the innovation variance weighted posterior residual Euclidean distance and the horizontal position parameter covariance, the horizontal direction confidence CF is calculated by the preset horizontal direction confidence function h .

[0080] Horizontal confidence CF h It is expressed as:

[0081]

[0082] ‖v‖ is the Euclidean distance of the posterior residual weighted by the variance of the innovation:

[0083]

[0084] Among them, ‖v‖ is the Euclidean distance of the posterior residual weighted by the variance of the innovation, σ EE , σ NN , σ EN , σ NE is the horizontal position parameter covariance in the covariance matrix of the user position parameters x, y, z and the position parameter northeast ENU direction in formula (1), and var is the new information variance.

[0085] In one example, the elevation direction confidence CF is calculated U The following steps may be specifically included:

[0086] Based on the innovation variance and the posterior residual of the observed value, the innovation variance weighted posterior residual Euclidean distance is calculated; according to the innovation variance weighted posterior residual Euclidean distance and the position parameter covariance in the elevation direction, the elevation direction confidence CF is calculated by the preset elevation direction confidence function U .

[0087] Elevation direction confidence CF U Respectively expressed as:

[0088]

[0089] Among them, σ U is the position parameter covariance in the elevation direction in the covariance matrix of the user position parameters x, y, z and the position parameter northeast ENU direction in formula (1), ‖v‖ is the posterior residual Euclidean distance weighted by the new information variance, and its formula is as shown in formula (4).

[0090] A method for determining the reliability of positioning of a satellite-based terminal provided in an embodiment of the present application uses the above-mentioned model so that real-time precise point positioning can output the covariance of the position parameters at each observation epoch, calculate the posterior residual of the observation value, and use the Kalman filter's new information variance for weighting to obtain the weighted posterior residual Euclidean distance, so that the confidence of the user's position can be calculated in real time. The confidence can be used to identify whether the PPPAR converges and to remind the user of the real-time positioning accuracy level.

[0091] In one embodiment, after calculating the positioning confidence of the satellite-based terminal, method 100 may further include step S105: smoothing the positioning confidence of the satellite-based terminal at the current epoch through a sliding window according to the positioning confidence of multiple historical epochs to obtain a target confidence at the current epoch.

[0092] For ease of understanding, the specific implementation of step S105 and the confidence smoothing algorithm involved are described in detail below using a specific example.

[0093] Considering that the position changes are generally smooth when using filtering positioning, the use of sliding window to smooth the confidence can ensure that historical information can affect the current confidence, and the forgetting factor β is introduced k The sensitivity of the confidence level to changes in positioning error can be further improved:

[0094]

[0095] Among them, the forgetting factor β k It is expressed as:

[0096]

[0097] For confidence smoothing with a sliding window size of n, the earlier the confidence is from the current epoch, the smaller its weight is, and the smaller its contribution to the confidence calculation is, thereby increasing the sensitivity of the current epoch error. When there is a large positioning error, the confidence can be reflected.

[0098] The satellite-based terminal positioning reliability determination method provided in the above embodiment can be specifically applied to the real-time positioning of the satellite-based terminal, and can provide the user with the real-time positioning accuracy level, and can warn the user when the positioning accuracy is poor.

[0099] Based on the above content, the embodiment of the present application also provides a satellite-based terminal real-time positioning method 200, such as Figure 2 As shown, the positioning method 200 may include steps S201-S206, wherein steps S201-S204 correspond to steps S101-S104 in the satellite-based terminal positioning reliability determination method 100 provided in the above embodiment and are not described in detail here.

[0100] Step S205, based on the global navigation satellite system GNSS observation value, perform precise point positioning PPP ambiguity resolution to obtain the location information of the satellite-based terminal.

[0101] The precise single-point positioning PPP ambiguity resolution obtains the location information of the satellite-based terminal. The resolution process specifically uses the precise satellite orbit and satellite clock error calculated by the GPS observation data of several ground tracking stations around the world to perform positioning resolution on the phase and pseudo-range observations collected by a single GPS receiver. This resolution process can provide reliable, decimeter-level or even centimeter-level positioning accuracy for users anywhere in the world. Since the wide-area differential GPS correction system uses geosynchronous communication satellites as communication links, users can obtain high accuracy without building local reference stations or data post-processing. In addition, since geosynchronous satellites covering the entire world are used as differential communication links, the same accuracy can be obtained on the earth's surface from 75° north latitude to 75° south latitude.

[0102] Step S206: determining the positioning result of the satellite-based terminal based on the position information of the satellite-based terminal and the positioning reliability of the satellite-based terminal.

[0103] based on Figure 1 The positioning reliability of the satellite-based terminal obtained by the method shown and the location information of the satellite-based terminal obtained in step S205 determine the positioning result of the satellite-based terminal. For example, different threshold ranges can be set for the specific value of the positioning reliability, corresponding to whether the positioning result is reliable, and when the positioning reliability is less than the preset threshold, an alarm is issued to remind the user of the satellite-based terminal that the positioning result may have errors. The positioning reliability and the location information can also be displayed on the satellite-based terminal together, and the user can decide whether to adopt the positioning result.

[0104] The real-time positioning method for satellite-based terminals in the embodiments of the present application can obtain global navigation satellite system GNSS observation values, and determine the location information of the satellite-based terminal and the positioning reliability of the satellite-based terminal based on the GNSS observation values. Therefore, the satellite-based terminal can provide users with real-time positioning accuracy levels and warn users when the positioning accuracy is poor.

[0105] Based on the satellite-based terminal real-time positioning method provided in the above embodiment, accordingly, the embodiment of the present application also provides a satellite-based terminal, which can be used to implement the satellite-based terminal positioning reliability determination method and the satellite-based terminal real-time positioning method provided in the above embodiment.

[0106] like Figure 3 As shown, the interstellar terminal provided in the embodiment of the present application includes:

[0107] The data acquisition module 301 is configured to acquire global navigation satellite system GNSS observation values.

[0108] The filtering module 302 is configured to obtain the new information variance through Kalman filtering update based on the GNSS observation value.

[0109] The ambiguity fixing module 303 is configured to perform ambiguity fixing based on the floating point solution obtained by Kalman filtering to obtain a fixed result, which includes the position parameter covariance and the observation value posterior residual.

[0110] The confidence calculation module 304 is configured to calculate the positioning confidence of the satellite-based terminal based on the innovation variance and the fixed result.

[0111] The positioning module 305 is configured to determine the positioning result of the satellite-based terminal according to the positioning reliability of the satellite-based terminal.

[0112] The above is a satellite-based terminal provided by an embodiment of the present application. In the satellite terminal, the information output by the positioning filter can be used to calculate the positioning reliability in real time, inform the user of the positioning accuracy of the current epoch, and can be used as a convergence indicator of PPPAR and a positioning error warning.

[0113] In one embodiment, after calculating the positioning confidence of the satellite-based terminal, the confidence calculation module 304 may also smooth the positioning confidence of the satellite-based terminal at the current epoch through a sliding window according to the positioning confidence of multiple historical epochs to obtain the target confidence of the current epoch.

[0114] In one embodiment, when the ambiguity fixing in the ambiguity fixing module 303 has a fixed solution, the fixing result may include a fixed solution covariance and a fixed solution a posteriori residual; when the ambiguity fixing has no fixed solution, the fixing result includes a floating point solution covariance and a floating point solution a posteriori residual.

[0115] In one embodiment, the positioning confidence of the satellite-based terminal in the confidence calculation module 304 may include horizontal direction confidence and elevation direction confidence.

[0116] In one example, the confidence calculation module 304 calculates the positioning confidence of the satellite-based terminal based on the innovation variance and the fixed result, which may include: calculating the posterior residual Euclidean distance weighted by the innovation variance based on the innovation variance and the posterior residual of the observation value; and calculating the horizontal direction confidence based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the horizontal direction.

[0117] Among them, the horizontal confidence is calculated based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the horizontal direction, which may include:

[0118] According to the posterior residual Euclidean distance weighted by the new information variance and the position parameter covariance in the horizontal direction, the horizontal direction confidence is calculated by using a preset horizontal direction confidence function, wherein the preset horizontal direction confidence function can be the formula (3) in the previous text.

[0119] In one example, the confidence calculation module 304 calculates the positioning confidence of the satellite-based terminal based on the innovation variance and the fixed result, and can also include: calculating the posterior residual Euclidean distance weighted by the innovation variance based on the innovation variance and the posterior residual of the observation value; and calculating the elevation direction confidence based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the elevation direction.

[0120] Among them, the confidence in the elevation direction is calculated based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the elevation direction, which may include:

[0121] According to the posterior residual Euclidean distance weighted by the new information variance and the position parameter covariance in the elevation direction, the elevation direction confidence is calculated by using the preset elevation direction confidence function, where the preset elevation direction confidence function is the formula (5) in the previous text.

[0122] The satellite-based terminal location reliability determination method provided in the above embodiments can be Figure 4 The satellite-based terminal equipment shown is executed.

[0123] The satellite-based terminal device may include a processor 401 and a memory 402 storing computer program instructions.

[0124] Specifically, the processor 401 may include a CPU, or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

[0125] The memory 402 may include a large capacity 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 a removable or non-removable (or fixed) medium, 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.

[0126] 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.

[0127] The memory 402 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0128] The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the satellite-based terminal location reliability determination method provided by any of the above embodiments and achieve the corresponding technical effects achieved by the method, which will not be repeated here for the sake of brevity.

[0129] In one example, the satellite-based terminal device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0130] The communication interface 403 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0131] Bus 410 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industry Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the embodiments of the present invention describe and illustrate specific buses, the present invention considers any suitable bus or interconnection.

[0132] The satellite-based terminal equipment can calculate the positioning reliability in real time using the information output by the positioning filter, inform the user of the positioning accuracy of the current epoch, and can serve as a convergence indicator of PPPAR and a positioning error warning.

[0133] In combination with the satellite-based terminal location reliability determination method in the above embodiments, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any satellite-based terminal location reliability determination method in the above embodiments is implemented.

[0134] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0135] 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 (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present invention are programs or code segments 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 communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0136] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0137] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A method for determining the reliability of a satellite-based terminal position, characterized in that: include: Obtaining GNSS observations; Based on the GNSS observations, obtaining the innovation variance through Kalman filtering; Based on the GNSS observations, a fixed result is obtained by Kalman filtering and ambiguity fixing, wherein the fixed result includes a position parameter covariance and an observation posterior residual; Based on the innovation variance and the fixed result, calculating the positioning confidence of the satellite-based terminal; the positioning confidence of the satellite-based terminal includes horizontal direction confidence and elevation direction confidence; The calculating, based on the innovation variance and the fixed result, the positioning reliability of the satellite-based terminal comprises: Based on the innovation variance and the observation value posterior residual, calculating the innovation variance weighted posterior residual Euclidean distance; Calculate the horizontal direction confidence according to the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the horizontal direction; The horizontal confidence is calculated based on the posterior residual Euclidean distance weighted by the innovation variance and the position parameter covariance in the horizontal direction, including: According to the weighted posterior residual Euclidean distance of the innovation variance and the horizontal position parameter covariance, the horizontal direction confidence is calculated by a preset horizontal direction confidence function, wherein the preset horizontal direction confidence function is: Among them, CF h is the horizontal confidence, ||v|| is the posterior residual Euclidean distance weighted by the innovation variance, σ EE , σ NN , σ EN , σ NE is the position parameter covariance in the horizontal direction, and var is the new information variance.

2. The method according to claim 1, characterized in that After calculating the positioning reliability of the satellite-based terminal, the method further includes: The positioning confidence of the satellite-based terminal at the current epoch is smoothed by a sliding window according to the positioning confidence of multiple historical epochs to obtain a target confidence at the current epoch.

3. The method according to claim 1, characterized in that: In the case where the ambiguity is fixed with a fixed solution, the fixed result includes a fixed solution covariance and a fixed solution posterior residual; In the case where the ambiguity is fixed without a fixed solution, the fixed result includes a floating point solution covariance and a floating point solution posterior residual.

4. The method according to claim 1, characterized in that The calculating, based on the innovation variance and the fixed result, the positioning reliability of the satellite-based terminal comprises: Based on the innovation variance and the observation value posterior residual, calculating the innovation variance weighted posterior residual Euclidean distance; The elevation direction confidence is calculated based on the posterior residual Euclidean distance weighted by the new information variance and the position parameter covariance in the elevation direction.

5. The method according to claim 4, characterized in that The confidence in the elevation direction is calculated based on the posterior residual Euclidean distance weighted by the novelty variance and the position parameter covariance in the elevation direction, including: According to the weighted posterior residual Euclidean distance of the novelty variance and the position parameter covariance of the elevation direction, the elevation direction confidence is calculated by a preset elevation direction confidence function, wherein the preset elevation direction confidence function is: Among them, CF U is the confidence in the elevation direction, ||v|| is the posterior residual Euclidean distance weighted by the innovation variance, σ U is the position parameter covariance in the elevation direction, and var is the new information variance.

6. A satellite-based terminal, characterized in that: include: A data acquisition module configured to acquire global navigation satellite system GNSS observation values; A filtering module is configured to obtain a variance of new information through Kalman filtering based on the GNSS observation value; An ambiguity fixing module is configured to obtain a fixed result based on the GNSS observation value through Kalman filtering and ambiguity fixing, wherein the fixed result includes a position parameter covariance and an observation value posterior residual; A confidence calculation module is configured to calculate the positioning confidence of the satellite-based terminal based on the innovation variance and the fixed result; the positioning confidence of the satellite-based terminal includes horizontal direction confidence and elevation direction confidence; A positioning module, configured to determine a positioning result of the satellite-based terminal according to the positioning reliability of the satellite-based terminal; The confidence calculation module is specifically used to calculate the posterior residual Euclidean distance weighted by the innovation variance based on the innovation variance and the posterior residual of the observation value; according to the posterior residual Euclidean distance weighted by the innovation variance and the horizontal position parameter covariance, the horizontal direction confidence is calculated by a preset horizontal direction confidence function; wherein the preset horizontal direction confidence function is Among them, CF h is the horizontal confidence, ||v|| is the posterior residual Euclidean distance weighted by the innovation variance, σ EE , σ NN , σ EN , σ NE is the position parameter covariance in the horizontal direction, and var is the new information variance.

7. A satellite-based terminal device, characterized in that: The device comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method for determining the location reliability of a satellite-based terminal according to any one of claims 1-5.

8. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the method for determining the position reliability of a satellite-based terminal according to any one of claims 1 to 5 is implemented.

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