A positioning integrity monitoring method, terminal, and computer storage medium

Abstract

The present application relates to a positioning integrity monitoring method, a terminal, and a computer storage medium. The monitoring method includes: determining a positioning solution for the current solution state based on the original observation data, navigation message data, and / or correction data of the visible satellites of the GNSS system; performing internal solution separation detection and / or external solution separation detection on the positioning solution of the current solution state; and determining a positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state. Through external solution separation detection, the present application compares the positioning solutions of different solution states, eliminates positioning anomalies caused by incorrect correction data, and uses an observation aggregation method based on elevation angle, constellation, and residuals to perform internal solution separation detection on the positioning solutions of each solution state. Only a subset of single digits needs to be detected to eliminate positioning anomalies caused by measurement failures, reducing the consumption of computing resources and the false alarm rate, improving the efficiency and accuracy of positioning integrity monitoring, and quantifying the integrity of the positioning result.

Description

Technical Field

[0001] This application belongs to the technical field of satellite navigation, and particularly relates to a positioning integrity monitoring method, a terminal, and a computer storage medium. Background Technique

[0002] The Global Navigation Satellite System (GNSS) can provide all-weather real-time positioning, navigation, and timing services for global users. The core constellations include the Global Positioning System (GPS) of the United States, the BeiDou Navigation Satellite System (BDS) of China, the Galileo Positioning System (Galileo) of the European Union, and the Global Navigation Satellite System (GLONASS) of Russia. Without the assistance of augmentation information, the pseudo-range single-point positioning accuracy of an independent single-system GNSS is about 5 meters. To meet the requirements for high-precision positioning in fields such as surveying and mapping, autonomous driving, and monitoring, it is necessary to correct the original GNSS measurement errors to achieve centimeter- or even millimeter-level positioning. Currently, high-precision positioning users represented by autonomous driving generally adopt the Precise Point Positioning-Real Time Kinematic (PPP-RTK) technology, which can provide real-time dynamic centimeter-level positioning services nationwide with only a small number of ground reference stations. As the basis for realizing high-precision positioning, the GNSS correction products required by PPP-RTK mainly include precise orbits, precise clock offsets, code biases, phase biases, ionospheric corrections, and ambiguity corrections.

[0003] In addition to accuracy, integrity is another major indicator for measuring navigation performance and is the one most closely related to reliability and safety. The concept of integrity is generally understood as the ability to provide timely warnings to users when the navigation system is unavailable, which reflects the degree of trust in the correctness of the navigation information provided by the navigation system. Specifically, anomalies in the navigation system are usually caused by faults in the measurement or correction data involved in positioning, and these faults can lead to serious positioning deviations, threatening navigation safety. Broadly speaking, errors exceeding the normal amplitude range in GNSS observations or correction data should be regarded as faults. According to the different stages from the generation to the reception of GNSS signals, the causes of measurement faults include abnormal space signals (such as ephemeris faults, satellite clock faults, etc.), abnormal atmospheric activities (such as ionospheric scintillation), and abnormal environments where the positioning terminal is located (such as strong multipath, signal interference, spoofing, etc.). The fault sources of PPP-RTK correction data are more complex, including abnormal observations of network receivers, communication link anomalies, algorithm solution faults, and so on. From the perspective of user positioning, since the observations of all visible satellites and their correction data are involved in the positioning solution, a measurement fault in any one satellite may have a huge impact on the final positioning result. For example, in an urban canyon environment, the multipath effect of the observations of some satellites is obvious, which can lead to positioning errors of dozens of meters. Therefore, in real-time positioning services, it is of great significance to detect and eliminate occasional faults in a timely manner to improve the service quality of the system and ensure the navigation safety of users.

[0004] At the user positioning terminal, the real-time monitoring results of integrity are quantified by outputting the alarm status and calculating the protection level (or integrity risk). Only when integrity, continuity, and accuracy all meet the index requirements, the current positioning result is set as available. Integrity monitoring includes two basic functions: fault detection and exclusion (FDE) for real-time measurements; and the calculation of the protection level (PL) or integrity risk (IR) corresponding to the positioning result. Since the design of the FDE algorithm determines the calculation method of PL / IR, the two are highly correlated. The development of GNSS integrity monitoring technology is mainly driven by the needs of aviation navigation, aiming to provide a safe and reliable navigation solution for the autopilot system of aircraft and participate in the aircraft control loop. In recent years, various autonomous unmanned systems represented by autonomous driving and autonomous manned aircraft have attracted great interest from the academic and industrial circles. Accurately and reliably determining one's own position and motion state is one of the basic capabilities for tasks such as trajectory tracking and collision avoidance of unmanned systems. Since the application fields of autonomous systems are highly related to life safety, establishing a complete GNSS integrity monitoring system is a prerequisite for autonomous operation. Especially for the widely used PPP-RTK high-precision positioning solution, autonomous driving users require their terminals to output the corresponding integrity information while outputting the positioning results, which makes the integrity monitoring of PPP-RTK positioning terminals a necessity.

[0005] Currently, PPP-RTK service providers are generally in the R & D stage for the integrity monitoring of positioning terminals, and there are no mature mass-produced products. The adopted solutions are mainly divided into three categories. The first category of solutions only uses traditional quality control and detection algorithms, such as ambiguity cycle slip detection, receiver autonomous integrity monitoring, etc.; although this method can reduce the number of positioning anomalies to a certain extent, it cannot accurately quantify events such as missed alarms, that is, it cannot solve the protection level, so it cannot meet the users with clear integrity index requirements. The second category of solutions usually uses residual tests or innovation tests based on the innovation in the Kalman filter update process, and solves the corresponding protection level based on the mathematical relationship between the residual / innovation and the state estimation error; the biggest defect of this type of solution is that the solution of the protection level needs to obtain the worst fault mode by means of numerical search, which consumes a large amount of computing resources and cannot be practically applied in embedded systems. The third category of solutions usually uses a solution separation monitoring method to judge the abnormal state by comparing the difference between the full set solution and the subset solution; the biggest advantage of this type of solution is that the solution separation method is conducive to the solution of the protection level without numerical iteration, but since it needs to execute a large number of filters in parallel, it will also consume a large amount of computing resources. Summary of the Invention

[0006] In view of the above technical problems, the present application provides a positioning integrity monitoring method, a terminal, and a computer storage medium to quantify the integrity of the positioning result, reduce the consumption of computing resources and the false alarm rate, and improve the efficiency and accuracy of positioning integrity monitoring.

[0007] The present application provides a positioning integrity monitoring method, including: determining a positioning solution of the current solution state according to the raw observation data, navigation message data, and / or correction data of the visible satellites of the GNSS system; performing internal solution separation detection and / or external solution separation detection on the positioning solution of the current solution state; and determining the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state.

[0008] In one embodiment, the step of determining a positioning solution of the current solution state according to the raw observation data, navigation message data, and / or correction data of the visible satellites of the GNSS system includes any one of the following: determining a positioning solution of the first solution state according to the raw observation data and navigation message data of the visible satellites of the GNSS system; determining a positioning solution of the second solution state according to the raw observation data, navigation message data, and first correction data of the visible satellites of the GNSS system; determining a positioning solution of the third solution state according to the raw observation data, navigation message data, first correction data, and second correction data of the visible satellites of the GNSS system.

[0009] In one embodiment, before performing internal solution separation detection on the positioning solution of the current solution state, it includes: screening the visible satellites of the GNSS system to determine multiple satellite sets; and determining multiple subset solutions according to the satellite data in the multiple satellite sets.

[0010] In one embodiment, the step of screening the visible satellites of the GNSS system to determine multiple satellite sets includes: removing the satellites with an elevation angle less than a preset elevation angle among the visible satellites of the GNSS system to determine the first satellite set; removing the satellites with a state estimation residual greater than a residual threshold among the visible satellites of the GNSS system to determine the second satellite set; and removing the satellites of the target constellation among the visible satellites of the GNSS system to determine the third satellite set.

[0011] In one embodiment, performing internal solution separation detection on the positioning solution of the current solution state includes: if the difference between the positioning solution of the current solution state and any subset solution is greater than a first threshold, the internal solution separation detection of the positioning solution of the current solution state is unqualified; if the differences between the positioning solution of the current solution state and all subset solutions are all less than or equal to the first threshold, the internal solution separation detection of the positioning solution of the current solution state is qualified.

[0012] In one embodiment, performing external solution separation detection on the positioning solution of the current solution state includes: if the difference between the positioning solution of the current solution state and the positioning solution of any previous solution state of the current solution state is greater than a second threshold, then the external detection of the positioning solution of the current solution state fails; if the differences between the positioning solution of the current solution state and the positioning solutions of all previous solution states of the current solution state are all less than or equal to the second threshold, then the external detection of the positioning solution of the current solution state passes.

[0013] In one embodiment, the step of determining the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state includes: if the detection result of the positioning solution of the current solution state is qualified, then obtaining the condition for entering the next solution state; if the condition for entering the next solution state does not meet the preset condition, then outputting the positioning solution of the current solution state and the integrity result of the positioning solution of the current solution state; if the condition for entering the next solution state meets the preset condition, then updating the positioning solution of the current solution state according to the original observation data, navigation message data, and correction data of the visible satellites of the GNSS system.

[0014] In one embodiment, the step of determining the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state further includes: if the detection result of the positioning solution of the current solution state is unqualified and the current solution state is not the first solution state, then outputting the positioning solution of the previous solution state and the integrity result of the positioning solution of the previous solution state; if the detection result of the positioning solution of the current solution state is unqualified and the current solution state is the first solution state, then the GNSS system is unavailable and a prompt message is output.

[0015] This application also provides a terminal, where the terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above monitoring method are implemented.

[0016] This application also provides a computer storage medium, where the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above monitoring method are implemented.

[0017] A positioning integrity monitoring method, a terminal, and a computer storage medium provided by this application perform result comparison on positioning solutions in different solution states through external solution separation detection, exclude positioning anomalies caused by incorrect correction data, and use an observation aggregation method based on elevation angle, constellation, and residual to perform internal solution separation detection on the positioning solutions in each solution state. Only a subset of single digits needs to be detected to exclude positioning anomalies caused by measurement failures, which can quantify the integrity of the positioning result, reduce the consumption of computing resources and the false alarm rate, and improve the efficiency and accuracy of positioning integrity monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic flowchart of the monitoring method provided in Embodiment 1 of this application;

[0019] Figure 2 is a specific schematic flowchart of the monitoring method provided in Embodiment 2 of this application;

[0020] Figure 3 is a schematic structural diagram of the terminal provided in Embodiment 3 of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The technical solution of this application will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] Figure 1 is a schematic flowchart of the monitoring method provided in Embodiment 1 of this application. As Figure 1 shown, the positioning integrity monitoring method of this application may include the following steps:

[0023] Step S101: Determine the positioning solution of the current solution state according to the original observation data, navigation message data, and / or correction data of the visible satellites of the GNSS system;

[0024] In one embodiment, step S101 includes any one of the following:

[0025] Determine the positioning solution of the first solution state according to the original observation data and navigation message data of the visible satellites of the GNSS system;

[0026] Determine the positioning solution of the second solution state according to the original observation data, navigation message data, and first correction data of the visible satellites of the GNSS system;

[0027] Determine the positioning solution of the third solution state based on the original observation data, navigation message data, first correction data, and second correction data of the visible satellites of the GNSS system.

[0028] Optionally, the original observation data includes pseudorange measurement values and carrier phase measurement values; the navigation message data mainly refers to broadcast ephemeris; the correction data includes at least one of precise orbit, precise clock offset, code bias, phase bias, ionospheric correction, and tropospheric correction.

[0029] Taking the PPP-RTK positioning technology as an example, the internal algorithm of the PPP-RTK positioning terminal usually includes five solution states: single point positioning (SPP) solution state, precise point positioning (PPP) solution state, augmentation (AUG) solution state, wide-lane fix (WLF) solution state, and narrow-lane fix (NLF) solution state. Each of these solution states provides a positioning solution. With the use of correction data, the positioning accuracy is continuously improved, and the positioning accuracy from low to high is SPP, PPP, AUG, WLF, NLF. Among them, the calculation of the positioning solution in the SPP solution state does not require correction data and is the most basic positioning solution; the calculation of the positioning solutions in the PPP, AUG, WLF, and NLF solution states all require the use of correction data, and the amount of correction data required increases sequentially.

[0030] Optionally, determine the positioning solution of the SPP solution state based on the original observation data and navigation message data of the visible satellites of the GNSS system; determine the positioning solution of the PPP solution state based on the original observation data, navigation message data, precise orbit, precise clock offset, and code bias of the visible satellites of the GNSS system; determine the positioning solution of the AUG solution state based on the original observation data, navigation message data, precise orbit, precise clock offset, code bias, ionospheric correction, and tropospheric correction of the visible satellites of the GNSS system; determine the positioning solution of the WLF solution state based on the original observation data, navigation message data, precise orbit, precise clock offset, code bias, ionospheric correction, tropospheric correction, and wide-lane phase bias of the visible satellites of the GNSS system; determine the positioning solution of the NLF solution state based on the original observation data, navigation message data, precise orbit, precise clock offset, code bias, ionospheric correction, tropospheric correction, wide-lane phase bias, and narrow-lane phase bias of the visible satellites of the GNSS system.

[0031] Step S102: Perform internal solution separation detection and / or external solution separation detection on the positioning solution of the current solution state;

[0032] In one embodiment, before performing internal solution separation detection on the positioning solution of the current solution state, it includes:

[0033] Screen the visible satellites of the GNSS system to determine multiple satellite sets;

[0034] Determine multiple subset solutions according to the satellite data in the multiple satellite sets.

[0035] In one embodiment, the step of screening the visible satellites of the GNSS system to determine multiple satellite sets includes:

[0036] Eliminate the satellites with an elevation angle less than the preset elevation angle among the visible satellites of the GNSS system to determine the first satellite set;

[0037] Eliminate the satellites with a state estimation residual greater than the residual threshold among the visible satellites of the GNSS system to determine the second satellite set;

[0038] Eliminate the satellites of the target constellation among the visible satellites of the GNSS system to determine the third satellite set.

[0039] Exemplarily, at a certain moment, the number of visible satellites of the GNSS system is 30, including 8 GPS satellites, 8 BDS satellites, 7 Galileo satellites, and 7 GLONASS satellites. Eliminate the satellites with an elevation angle lower than 35 degrees among these 30 satellites, and the remaining satellites among these 30 satellites form the first satellite set; eliminate the satellites with a state estimation residual greater than the residual threshold among these 30 satellites, and the remaining satellites among these 30 satellites form the second satellite set; optionally, the residual threshold is determined according to the requirements of the positioning continuity index. Eliminate the 8 GPS satellites among these 30 satellites, and the remaining 22 satellites form the third satellite set; eliminate the 8 BDS satellites among these 30 satellites, and the remaining 22 satellites form the fourth satellite set.

[0040] After determining the multiple satellite sets, for the step of determining multiple subset solutions according to the satellite data in the multiple satellite sets, refer to step S101, which will not be elaborated here.

[0041] In one embodiment, performing internal solution separation detection on the positioning solution of the current solution state includes:

[0042] If the difference between the positioning solution of the current solution state and any subset solution is greater than the first threshold, the internal solution separation detection of the positioning solution of the current solution state is unqualified;

[0043] If the differences between the positioning solution of the current solution state and all subset solutions are all less than or equal to the first threshold, the internal solution separation detection of the positioning solution of the current solution state is qualified.

[0044] Optionally, the difference between the positioning solution of the current solution state and any subset solution is the absolute value of the difference between the positioning solution of the current solution state and any subset solution, simply referred to as the internal detection statistic; the first threshold is determined according to the positioning continuity index requirement and the standard deviation of the distribution of the internal detection statistic in the fault-free state.

[0045] In one embodiment, performing an external solution separation detection on the positioning solution of the current solution state includes:

[0046] If the difference between the positioning solution of the current solution state and the positioning solution of any previous solution state of the current solution state is greater than the second threshold, the external detection of the positioning solution of the current solution state fails;

[0047] If the differences between the positioning solution of the current solution state and the positioning solutions of all previous solution states of the current solution state are all less than or equal to the second threshold, the external detection of the positioning solution of the current solution state is qualified.

[0048] Optionally, the difference between the positioning solution of the current solution state and the positioning solution of any previous solution state of the current solution state is the absolute value of the difference between the positioning solution of the current solution state and the positioning solution of any previous solution state of the current solution state, simply referred to as the external detection statistic; the second threshold is determined according to the positioning continuity index requirement and the standard deviation of the distribution of the external detection statistic in the fault-free state.

[0049] Exemplarily, if the difference between the positioning solution of the AUG solution state and any one of the positioning solutions of the SPP solution state and the PPP solution state is greater than the second threshold, the external detection of the positioning solution of the AUG solution state fails; if the differences between the positioning solution of the AUG solution state and the positioning solutions of the SPP solution state and the PPP solution state are all less than or equal to the second threshold, the external detection of the positioning solution of the AUG solution state is qualified. Optionally, since the SPP solution state is the first solution state and there are no other solution states before the SPP solution state, only the internal solution separation detection is performed on the positioning solution of the SPP solution state; while there are other solution states before the PPP solution state, the AUG solution state, the WLF solution state, and the NLF solution state, so the internal solution separation detection and the external solution separation detection are both performed on the positioning solutions of these solution states.

[0050] Step S103: Determine the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state.

[0051] In one embodiment, step S103 includes:

[0052] If the detection result of the positioning solution of the current solution state is qualified, obtain the condition for entering the next solution state;

[0053] If the condition for entering the next solution state does not meet the preset condition, output the positioning solution of the current solution state and the integrity result of the positioning solution of the current solution state;

[0054] If the condition for entering the next solution state meets the preset condition, update the positioning solution of the current solution state according to the original observation data, navigation message data and correction data of the visible satellites of the GNSS system.

[0055] Optionally, for the case where the positioning solution of the same solution state performs both internal solution separation detection and external solution separation detection, if both the internal solution separation detection and the external solution separation detection are qualified, the detection result of the positioning solution of this solution state is qualified; if any one of the internal solution separation detection and the external solution separation detection is unqualified, the detection result of the positioning solution of this solution state is unqualified. For the case where only internal solution separation detection is performed on the positioning solution of the first solution state, if the internal solution separation detection is qualified, the detection result of the positioning solution of the first solution state is qualified; if the internal solution separation detection is unqualified, the detection result of the positioning solution of the first solution state is unqualified.

[0056] Optionally, the condition for entering the next solution state includes the correction data required for calculating the positioning solution of the next solution state and the number of satellites supporting the calculation of the positioning solution of the next solution state; if the correction data required for calculating the positioning solution of the next solution state does not exist, and / or the number of satellites supporting the calculation of the positioning solution of the next solution state is less than the preset number, the condition for entering the next solution state does not meet the preset condition; if the correction data required for calculating the positioning solution of the next solution state exists and the number of satellites supporting the calculation of the positioning solution of the next solution state is greater than or equal to the preset number, the condition for entering the next solution state meets the preset condition; optionally, the preset number is at least 6 satellites.

[0057] In one embodiment, step S103 further includes:

[0058] If the detection result of the positioning solution of the current solution state is unqualified and the current solution state is not the first solution state, output the positioning solution of the previous solution state and the integrity result of the positioning solution of the previous solution state;

[0059] If the detection result of the positioning solution of the current solution state is unqualified and the current solution state is the first solution state, the GNSS system is unavailable and a prompt message is output.

[0060] Optionally, the integrity result of the positioning solution includes the protection level and integrity risk of the positioning solution; among them, the protection level is the positioning error range. For example, if the protection level of the positioning solution is 1m, the positioning error of the positioning solution is within 1m; the integrity risk is the probability of occurrence of positioning error exceeding the limit without timely warning.

[0061] The monitoring method provided in the first embodiment of this application performs result comparison on positioning solutions in different solution states through external solution separation detection, excludes positioning anomalies caused by incorrect correction data, and uses an observation aggregation method based on elevation angle, constellation, and residuals to perform internal solution separation detection on the positioning solutions in each solution state. Only a subset of single digits needs to be detected to exclude positioning anomalies caused by measurement failures, quantifies the integrity of the positioning results, effectively reduces the consumption of computing resources and the false alarm rate, and improves the efficiency and accuracy of positioning integrity monitoring.

[0062] Figure 2 It is a schematic flowchart of the specific process of the monitoring method provided in the second embodiment of this application. The positioning integrity monitoring method of this application may include the following steps:

[0063] Step S201: Obtain the original observation data and navigation message data of the visible satellites of the GNSS system;

[0064] Step S202: Determine the positioning solution of the first solution state according to the original observation data and navigation message data of the visible satellites of the GNSS system;

[0065] Step S203: Perform internal solution separation detection on the positioning solution of the first solution state;

[0066] Step S204: Determine whether the positioning solution of the first solution state passes the detection;

[0067] If the positioning solution of the first solution state passes the detection, then execute Step S205: Obtain the conditions for entering the next solution state;

[0068] If the positioning solution of the first solution state fails the detection, then execute Step S206: Output a prompt message indicating that the GNSS system is currently unavailable;

[0069] Step S207: Determine whether the conditions for entering the next solution state meet the preset conditions;

[0070] If the conditions for entering the next solution state meet the preset conditions, then execute Step S208: Update the positioning solution of the current solution state according to the original observation data, navigation message data, and correction data of the visible satellites of the GNSS system;

[0071] If the conditions for entering the next solution state do not meet the preset conditions, then execute Step S209: Calculate the protection level and integrity risk of the positioning solution of the current solution state;

[0072] Step S210: Output the positioning solution of the current solution state and the integrity result of the positioning solution of the current solution state;

[0073] Step S211: Perform internal solution separation detection and external solution separation detection on the positioning solution of the current solution state;

[0074] Step S212: Determine whether the positioning solution of the current solution state is detected as qualified;

[0075] If the positioning solution of the current solution state is detected as qualified, return to execute Step S205;

[0076] If the positioning solution of the current solution state is detected as unqualified, execute Step S213: Output the positioning solution of the previous solution state and the integrity result of the positioning solution of the previous solution state.

[0077] For the specific implementation process of this embodiment, refer to Embodiment 1, which will not be elaborated here.

[0078] Taking the PPP-RTK positioning technology as an example, the monitoring mode of the monitoring method provided in the second embodiment of this application is shown in the following table:

[0079]

[0080] The positioning solutions of the 5 solution states of PPP-RTK form the horizontal and vertical coordinates, and a identification matrix is determined accordingly; the circular identification in the matrix indicates that the positioning solutions of two solution states pass the mutual inspection, the triangular identification indicates that the positioning solutions of two solution states fail the mutual inspection, and the identification on the diagonal indicates the internal solution separation detection result of the positioning solution of each solution state.

[0081] As can be seen from the above table, the internal solution separation detections of the positioning solutions of the 5 solution states are all qualified, the external solution separation detections of the SPP, PPP, AUG, and WLF solution states are all qualified, while the positioning solution of the NLF solution state fails the mutual inspection with the positioning solution of the WLF solution state, that is, the external solution separation detection of the positioning solution of the NLF solution state is unqualified. Therefore, finally, the positioning solution of the WLF solution state and the integrity result of the positioning solution of the WLF solution state are output.

[0082] The monitoring method provided in the second embodiment of this application designs a dual detection mode of internal solution separation detection and external solution separation detection. By comparing the positioning solution of each solution state with the subset solution one by one, and comparing the positioning solutions of different solution states one by one, the positioning integrity monitoring effect is effectively improved, and the false alarm rate is reduced.

[0083] Figure 3 It is a schematic structural diagram of the terminal provided in the third embodiment of this application. The terminal of this application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110. When the processor 110 executes the computer program 112, the steps in the above-mentioned monitoring method embodiment are implemented.

[0084] The terminal may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art can understand, Figure 3These are merely examples of terminals and do not constitute a limitation to terminals. They may include more or fewer components than those shown in the figures, or combine certain components, or have different components. For example, a terminal may also include input / output devices, network access devices, buses, etc.

[0085] The processor 110 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0086] The memory 111 may be an internal storage unit of the terminal, such as the hard disk or memory of the terminal. The memory 111 may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 111 may also include both the internal storage unit and the external storage device of the terminal. The memory 111 is used to store computer programs and other programs and data required by the terminal. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0087] This application also provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above monitoring method are implemented.

[0088] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0089] In this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion. In addition to the listed elements, it may also include other elements not specifically listed.

[0090] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

Claims

1. A positioning integrity monitoring method, characterized in that, Including: Obtain a solution state based on the original observation data, navigation message data, and / or correction data of visible satellites in the GNSS system, and determine the positioning solution of the current solution state. The solution state includes multiple solution states, and the positioning accuracies between different solution states are different; Perform internal solution separation detection and / or external solution separation detection on the positioning solution of the current solution state. The internal solution separation detection is to detect whether the positioning solution of the current solution state is qualified according to the difference between the subset solution of the visible satellites in the GNSS system and the positioning solution of the current solution state. The external solution separation detection is to detect whether the positioning solution of the current solution state is qualified according to the difference between the positioning solution of the solution state before the current solution state and the positioning solution of the current solution state; Determine the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state; Before performing internal solution separation detection on the positioning solution of the current solution state, it includes: screening the visible satellites in the GNSS system to determine multiple satellite sets; determining multiple subset solutions according to the satellite data in the multiple satellite sets; The step of screening the visible satellites in the GNSS system to determine multiple satellite sets includes: Exclude the satellites with an elevation angle less than the preset elevation angle among the visible satellites in the GNSS system to determine the first satellite set; Exclude the satellites with a state estimation residual greater than the residual threshold among the visible satellites in the GNSS system to determine the second satellite set; Exclude the satellites of the target constellation among the visible satellites in the GNSS system to determine the third satellite set.

2. The monitoring method according to claim 1, characterized in that, The step of obtaining a solution state based on the original observation data, navigation message data, and / or correction data of visible satellites in the GNSS system and determining the positioning solution of the current solution state includes any one of the following: Determine the positioning solution of the first solution state according to the original observation data and navigation message data of the visible satellites in the GNSS system; Determine the positioning solution of the second solution state according to the original observation data, navigation message data, and first correction data of the visible satellites in the GNSS system; Determine the positioning solution of the third solution state according to the original observation data, navigation message data, first correction data, and second correction data of the visible satellites in the GNSS system.

3. The monitoring method according to claim 1, characterized in that, Performing internal solution separation detection on the positioning solution of the current solution state includes: If the difference between the positioning solution of the current solution state and any subset solution is greater than the first threshold, the internal solution separation detection of the positioning solution of the current solution state is unqualified; If the differences between the positioning solution of the current solution state and each subset solution are all less than or equal to the first threshold, the internal solution separation detection of the positioning solution of the current solution state is qualified.

4. The monitoring method according to claim 2, characterized in that, Performing external solution separation detection on the positioning solution of the current solution state includes: If the difference between the positioning solution of the current solution state and the positioning solution of any solution state before the current solution state is greater than the second threshold, the external detection of the positioning solution of the current solution state is unqualified; If the differences between the positioning solution of the current solution state and the positioning solutions of each previous solution state are all less than or equal to the second threshold, the external detection of the positioning solution of the current solution state is qualified.

5. The monitoring method according to claim 1, characterized in that, The step of determining the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state includes: If the detection result of the positioning solution of the current solution state is qualified, obtain the conditions for entering the next solution state; If the conditions for entering the next solution state do not meet the preset conditions, output the positioning solution of the current solution state and the integrity result of the positioning solution of the current solution state; If the conditions for entering the next solution state meet the preset conditions, update the positioning solution of the current solution state according to the original observation data, navigation message data, and correction data of the visible satellites of the GNSS system.

6. The monitoring method according to claim 1, characterized in that, The step of determining the positioning result and the integrity of the positioning result according to the detection result of the positioning solution of the current solution state further includes: If the detection result of the positioning solution of the current solution state is unqualified and the current solution state is not the first solution state, output the positioning solution of the previous solution state and the integrity result of the positioning solution of the previous solution state; If the detection result of the positioning solution of the current solution state is unqualified and the current solution state is the first solution state, the GNSS system is unavailable and a prompt message is output.

7. A terminal, characterized in that, The terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the monitoring method according to any one of claims 1 to 6 are implemented.

8. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the monitoring method according to any one of claims 1 to 6 are implemented.

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