Integrity monitoring method, server and storage medium for GNSS phase deviation products

Abstract

The present application relates to a method, a server and a storage medium for monitoring the integrity of a GNSS phase deviation product, wherein the integrity monitoring method comprises: obtaining original observation data, wherein the original observation data comprises first original observation data and second original observation data; calculating a first phase deviation product according to the first original observation data; monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting the integrity information of the first phase deviation product. The method, server and storage medium for monitoring the integrity of a GNSS phase deviation product provided in the present application can effectively detect faults introduced in the encoding and decoding process by performing closed-loop monitoring of the integrity of the phase deviation product both a priori and a posteriori; based on the inter-epoch difference and the mutual verification of the phase deviation products obtained by different groups of base stations, double-layer fault detection is performed to reduce the failure rate and missed fault detection rate of the phase deviation product, thereby improving the performance of the positioning integrity of the navigation system.

Description

Technical Field

[0001] The present application belongs to the field of satellite navigation technology, and in particular, relates to a method, a server and a storage medium for monitoring the integrity of a GNSS phase deviation product. Background Art

[0002] The Global Navigation Satellite System (GNSS) can provide real-time positioning, navigation and timing services for users around the world around the clock. The core constellations include the US GPS, China's Beidou Navigation Satellite System (BDS), the EU Galileo, and Russia's GLONASS. Without the assistance of enhanced information, the accuracy of an independent single-system GNSS pseudo-range single-point positioning is about 5 meters. In order to meet the needs of high-precision positioning in surveying and mapping, autonomous driving, monitoring and other fields, it is necessary to correct the original GNSS measurement errors to achieve centimeter or even millimeter-level positioning. At present, high-precision positioning users represented by autonomous driving generally adopt the PPP-RTK technical solution, which can provide real-time dynamic centimeter-level positioning services across the country using only a small number of ground reference stations.

[0003] The realization of GNSS high-precision positioning relies on carrier phase observation, and the fixation of the integer ambiguity of the carrier is the key. Compared with the method based on differential positioning, the original carrier phase used by PPP-RTK includes the hardware delay between the satellite and the receiver, which causes its ambiguity to lose its integer characteristics and cannot be fixed directly. Therefore, the acquisition of PPP-RTK fixed solution relies on the phase deviation product broadcast by the server to restore the integer characteristics of the ambiguity. The quality of the phase deviation product determines whether the user end can obtain the PPP-RTK fixed solution, and thus determines the user's positioning performance. Therefore, real-time fault detection and quality monitoring of phase deviation products are of great significance to high-precision positioning service providers.

[0004] As one of the four basic indicators to measure navigation performance, integrity directly reflects the user's positioning safety. The concept of integrity is usually 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, the unavailability of the navigation system is usually caused by a failure in the measurement or product information involved in positioning. At present, the focus of the field of high-precision positioning is on improving navigation accuracy and stability, and there is less research on the integrity of high-precision positioning, especially in the generation process of correction products, which often only add simple quality control steps and no rigorous integrity monitoring algorithms. However, ensuring the integrity of positioning is crucial for life-safety-related applications such as autonomous driving. The integrity information of the product is a necessary input for calculating the protection level. Therefore, for high-precision positioning service providers, real-time integrity monitoring of their correction products must be carried out.

[0005] The calculation of phase deviation products is based on the original GNSS observations provided by widely distributed ground reference stations. However, the random characteristics of GNSS observation errors are obvious, and sudden failures are prone to occur, which in turn lead to failures in phase deviation products. If such failures are not detected and eliminated in time, the user end will be unable to fix the ambiguity, and may even cause large positioning deviations, seriously threatening user safety. For such problems, the existing solution is based on quality control in the product generation process. Specifically, it is to eliminate gross errors by evaluating the internal accuracy of phase deviation calculation and the state estimation residual. However, the shortcomings of the current technical solution are high missed detection rate and inability to monitor failures caused by product encoding and decoding. This is because the internal accuracy value is a theoretical result extracted from the state transfer covariance, and its representation accuracy is far more optimistic than the actual situation. In addition, since the same observation value is used to calculate the phase deviation product and the real-time residual, the coupling between them will cover up some large errors, resulting in missed detection of faults. Finally, the real-time state estimation residual is suitable as a criterion for alarm, but it is not conducive to fault identification and is prone to misjudgment of normal phase deviation products. Therefore, for application fields such as autonomous driving that have stringent safety requirements for high-precision services, the phase deviation products generated based on existing technical solutions cannot meet users' needs for navigation integrity, and new technical solutions need to be proposed. Summary of the invention

[0006] In response to the above technical problems, the present application provides a GNSS phase deviation product integrity monitoring method, server and storage medium to effectively detect faults introduced by the encoding and decoding process, reduce the failure rate and fault missed detection rate of the phase deviation product, and improve the performance of the navigation system positioning integrity.

[0007] The present application provides a method for monitoring the integrity of a GNSS phase deviation product, comprising: acquiring original observation data, wherein the original observation data comprises first original observation data and second original observation data; calculating a first phase deviation product based on the first original observation data; monitoring the integrity of the first phase deviation product based on the second original observation data, and outputting integrity information of the first phase deviation product.

[0008] In one implementation, the first original observation data is original observation data of a ground reference station; and the second original observation data is original observation data of an integrity monitoring station.

[0009] In one embodiment, the step of monitoring the integrity of the first phase deviation product based on the second original observation data and outputting the integrity information of the first phase deviation product includes: performing a priori integrity monitoring on the first phase deviation product based on the second original observation data to determine the prior integrity information of the first phase deviation product; encoding the first phase deviation product, and sending the encoded first phase deviation product and the prior integrity information to the client.

[0010] In one embodiment, after the encoded first phase deviation product and the priori integrity information are sent to the client, it includes: obtaining the first phase deviation product decoded by the client; performing a posteriori integrity monitoring on the decoded first phase deviation product based on the second original observation data, determining the a posteriori integrity information of the first phase deviation product, and sending the a posteriori integrity information to the client.

[0011] In one embodiment, the step of monitoring the integrity of the first phase deviation product based on the second original observation data and outputting the integrity information of the first phase deviation product includes: calculating the second phase deviation product based on the second original observation data; monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product.

[0012] In one embodiment, the step of monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product, includes: if the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is greater than a first preset value, the first phase deviation product of the corresponding frequency is unavailable in the corresponding epoch; if the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value, the first phase deviation product of the corresponding frequency is available in the corresponding epoch.

[0013] In one embodiment, the first phase deviation product includes a first widelane phase deviation product and a first narrowlane phase deviation product; the second phase deviation product includes a second widelane phase deviation product and a second narrowlane phase deviation product; the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product, further includes: if at any epoch, the difference between the first widelane phase deviation product and the second widelane phase deviation product is greater than a widelane threshold, and / or the difference between the first narrowlane phase deviation product and the second narrowlane phase deviation product is greater than a narrowlane threshold, then the first phase deviation product is not available at the corresponding epoch; if at any epoch, the difference between the first widelane phase deviation product and the second widelane phase deviation product is less than or equal to the widelane threshold, and the difference between the first narrowlane phase deviation product and the second narrowlane phase deviation product is less than or equal to the narrowlane threshold, then the first phase deviation product is available at the corresponding epoch.

[0014] In one embodiment, before monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product, it includes: obtaining the inter-epoch difference of the first phase deviation product for each epoch; if any inter-epoch difference of the first phase deviation product of any epoch is greater than a second preset value, the first phase deviation product is unavailable in the corresponding epoch, and the first phase deviation product of the corresponding epoch is removed and does not participate in the calculation of the inter-epoch difference of the next epoch; if all the inter-epoch differences of the first phase deviation product of any epoch are less than or equal to the second preset value, the integrity of the first phase deviation product in the corresponding epoch is monitored based on the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch, and the integrity information of the first phase deviation product in the corresponding epoch is output.

[0015] The present application also provides a server, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned integrity monitoring method when executing the computer program.

[0016] The present application also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned integrity monitoring method are implemented.

[0017] The present application provides a GNSS phase deviation product integrity monitoring method, server and storage medium. By performing a priori and a posteriori integrity closed-loop monitoring of the phase deviation product, faults introduced in the encoding and decoding process can be effectively detected. Based on the inter-epoch difference and the mutual verification of the phase deviation products obtained by different groups of base stations, double-layer fault detection is performed to reduce the failure rate and fault missed detection rate of the phase deviation product, thereby improving the performance of the navigation system positioning integrity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the process of the integrity monitoring method provided in Example 1 of the present application. Figure 1 ;

[0019] Figure 2 This is a flow chart of the integrity monitoring method provided in Example 2 of the present application. Figure 2 ;

[0020] Figure 3 It is a specific flow chart of the integrity monitoring method provided in Example 3 of the present application;

[0021] Figure 4 It is a structural diagram of the server provided in Example 4 of the present application. DETAILED DESCRIPTION

[0022] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. "And / or" used herein includes any and all combinations of one or more related listed items.

[0023] Figure 1 This is a schematic diagram of the process of the integrity monitoring method provided in Example 1 of the present application. Figure 1 .like Figure 1 As shown, the integrity monitoring method of the present application may include the following steps:

[0024] Step S101: obtaining original observation data, wherein the original observation data includes first original observation data and second original observation data;

[0025] Optionally, the first original observation data is original observation data of a ground reference station; and the second original observation data is original observation data of an integrity monitoring station.

[0026] Among them, the integrity monitoring station is a positioning reference station independent of the ground reference station, which has the same technical indicators as the ground reference station. For example, there are 200 positioning reference stations in the GPS satellite navigation system, 30 of which are selected as integrity monitoring stations and the remaining 170 are ground reference stations. The integrity monitoring station does not participate in the calculation of the first phase deviation product, but is used to monitor the integrity of the first phase deviation product.

[0027] Step S102: Calculating a first phase deviation product according to the first original observation data;

[0028] The original observation data includes the pseudorange measurement value and carrier measurement value of each epoch and each frequency, and the phase deviation product of each epoch and each frequency is calculated according to the pseudorange measurement value and carrier measurement value of each epoch and each frequency. Optionally, the first phase deviation product and the second phase deviation product are obtained according to the original observation data of the ground reference station and the integrity monitoring station for the same satellite, respectively, in combination with the above calculation method.

[0029] Step S103: monitor the integrity of the first phase deviation product according to the second original observation data, and output integrity information of the first phase deviation product.

[0030] In one embodiment, step S103 includes:

[0031] Calculating a second phase deviation product based on the second original observation data;

[0032] According to the relationship between the first phase deviation product and the second phase deviation product, the integrity of the first phase deviation product is monitored, and the integrity information of the first phase deviation product is output.

[0033] In one embodiment, the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product includes:

[0034] If the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is greater than a first preset value, the first phase deviation product of the corresponding frequency is unavailable in the corresponding epoch;

[0035] If the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to a first preset value, the first phase deviation product of the corresponding frequency is available in the corresponding epoch.

[0036] Among them, the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is greater than or equal to 0.

[0037] Optionally, the first phase deviation product includes a first wide-lane phase deviation product and a first narrow-lane phase deviation product; the second phase deviation product includes a second wide-lane phase deviation product and a second narrow-lane phase deviation product;

[0038] In one embodiment, the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product further includes:

[0039] If at any epoch, the difference between the first widelane phase error product and the second widelane phase error product is greater than the widelane threshold, and / or the difference between the first narrowlane phase error product and the second narrowlane phase error product is greater than the narrowlane threshold, then the first phase error product is not available at the corresponding epoch;

[0040] If at any epoch, the difference between the first widelane phase error product and the second widelane phase error product is less than or equal to the widelane threshold, and the difference between the first narrowlane phase error product and the second narrowlane phase error product is less than or equal to the narrowlane threshold, then the first phase error product is available at the corresponding epoch.

[0041] It is worth mentioning that when calculating the difference between the first wide lane / narrow lane phase error product and the second wide lane / narrow lane phase error product, the quadratic difference method is required to unify the benchmarks of the first wide lane / narrow lane phase error product and the second wide lane / narrow lane phase error product. In any epoch, the difference between the first wide lane / narrow lane phase error product and the second wide lane / narrow lane phase error product is greater than or equal to 0.

[0042] Exemplarily, a set of phase deviation products (second phase deviation products) are independently calculated using the original observation data of the integrity monitoring station, and are cross-checked with the phase deviation products (first phase deviation products) generated based on the original observation data of the ground reference station, and the difference (residual) between the first phase deviation product and the second phase deviation product is used as the test statistic. Since users generally use phase deviation products in the form of wide lanes and narrow lanes, the consistency of the first wide lane phase deviation product and the first narrow lane phase deviation product generated based on the original observation data of the ground reference station and the second wide lane phase deviation product and the second narrow lane phase deviation product independently calculated using the original observation data of the integrity monitoring station are checked respectively, and the residual is defined as:

[0043]

[0044]

[0045] in, represents the wide lane residual, represents the second wide-lane phase deviation product, represents the first wide-lane phase deviation product; represents the narrow lane residual, represents the second narrow-lane phase deviation product, Represents the first narrow-lane phase deviation product.

[0046] After the wide lane residual and the narrow lane residual are calculated, the following judgment is performed: if the wide lane residual is greater than the wide lane threshold or the narrow lane residual is greater than the narrow lane threshold, the integrity status of the first phase deviation product is set to unavailable; otherwise, the integrity status of the first phase deviation product is marked as normal and available.

[0047] In addition, when calculating the residual, the quadratic difference method is used to unify the benchmarks of the two sets of products. The quadratic difference method is used because a certain satellite is selected as the reference star when the phase deviation product is generated. The calculation formula is:

[0048]

[0049]

[0050]

[0051]

[0052] in, They are the primary difference lane width value of the integrity monitoring station after removing the benchmark and the primary difference lane width value of the ground benchmark station. are the first-order narrow lane value of the integrity monitoring station after excluding the benchmark and the first-order narrow lane value of the ground benchmark station, m is the satellite number, and ref is the reference satellite.

[0053] It is worth mentioning that before monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product, the following steps are performed:

[0054] Obtaining the inter-epoch difference of the first phase deviation product epoch by epoch;

[0055] If any inter-epoch difference of the first phase deviation product of any epoch is greater than the second preset value, the first phase deviation product is unavailable in the corresponding epoch, and the first phase deviation product of the corresponding epoch is removed and does not participate in the calculation of the inter-epoch difference of the next epoch;

[0056] If the inter-epoch differences of the first phase deviation product of any epoch are all less than or equal to the second preset value, the integrity of the first phase deviation product in the corresponding epoch is further monitored based on the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch, and the integrity information of the first phase deviation product in the corresponding epoch is output.

[0057] Among them, the difference between any epochs of the first phase deviation product of any epoch is greater than or equal to 0.

[0058] Specifically, the value of the phase deviation product is relatively stable and does not change significantly over time. Therefore, it is possible to determine whether a fault has occurred by checking the inter-epoch difference of the phase deviation product. In addition, in order to eliminate accidental factors between two epochs, a moving window method is used to make a difference between the phase deviation product of the current epoch and the phase deviation product of the previous epoch to obtain a more reliable fault detection result. It is worth noting that if the phase deviation product of the previous epoch is not available, the phase deviation product of the corresponding epoch will be removed and will not participate in the calculation of the inter-epoch difference of the phase deviation product of the current epoch. Among them, removing the phase deviation product of the corresponding epoch only means that the phase deviation product of the corresponding epoch does not participate in the calculation of the inter-epoch difference of the phase deviation product of the current epoch, and the phase deviation product of the corresponding epoch still needs to be broadcast to the client.

[0059] For example, for the first phase deviation product of the tth epoch, there are t-1 inter-epoch differences, and any inter-epoch difference in, is the first phase deviation product of the t-th epoch, is the first phase deviation product of any epoch in the first t-1 epochs, i represents the product number of the first phase deviation product. For example, for different satellites, the first phase deviation product has different numbers, k = 1, ..., t-1, t ≥ 2; since the phase deviation product has the characteristic of being broadcast after being stable, at t = 1, like That is, if the difference between any epochs of the first phase deviation product of any epoch is greater than the second preset value, the first phase deviation product is not available in the corresponding epoch; That is, if the inter-epoch differences of the first phase deviation product of any epoch are all less than or equal to the second preset value, the integrity of the first phase deviation product in the corresponding epoch is further monitored according to the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch, and the integrity information of the first phase deviation product in the corresponding epoch is output; wherein, T Δ is the second preset value.

[0060] The integrity monitoring method provided in Example 1 of the present application performs double-layer fault detection based on the inter-epoch difference and the mutual verification of the phase deviation products obtained by different groups of base stations, which effectively reduces the failure rate and fault missed detection rate of the phase deviation product and improves the performance of the positioning integrity of the navigation system.

[0061] Figure 2 This is a flow diagram of the integrity monitoring method provided in the second implementation of this application. Figure 2 .like Figure 2 As shown, the integrity monitoring method of the present application may include the following steps:

[0062] Step S201: performing a priori integrity monitoring on the first phase deviation product according to the second original observation data to determine a priori integrity information of the first phase deviation product;

[0063] Step S202: Encode the first phase deviation product, and send the encoded first phase deviation product and prior integrity information to the client;

[0064] Step S203: Obtain the first phase deviation product after decoding by the client;

[0065] Step S204: Perform a posteriori integrity monitoring on the decoded first phase deviation product according to the second original observation data, determine a posteriori integrity information of the first phase deviation product, and send the a posteriori integrity information to the client.

[0066] Optionally, at time t0, the prior integrity monitoring module of the server side calculates the prior integrity information of the first phase deviation product based on the calculation result of the first phase deviation product and the current observation data of the integrity monitoring station; at time t1, the prior integrity monitoring module of the server side sends the first phase deviation product and its prior integrity information to the broadcasting platform of the server side; at time t2, the broadcasting platform of the server side encodes the above information according to the preset protocol and broadcasts it to the service SDK (software toolkit) module of the client side; at time t3, the service SDK module of the client side decodes the above information and sends the decoded information to the calculation module of the client side, and at the same time, sends the decoded first phase deviation product to The server's a posteriori integrity monitoring module, the server's a posteriori integrity monitoring module combines the observation data of the integrity monitoring station at time t0 to solve the a posteriori integrity information of the first phase deviation product; at time t4, the server's a posteriori integrity monitoring module sends the a posteriori integrity information of the first phase deviation product to the server's broadcasting platform; at time t5, the server's broadcasting platform encodes the a posteriori integrity information of the first phase deviation product according to a preset protocol and broadcasts it to the client's service SDK module; at time t6, the client's service SDK module decodes the a posteriori integrity information of the first phase deviation product, and sends the decoded a posteriori integrity information of the first phase deviation product to the client's calculation module.

[0067] Furthermore, if both the a priori integrity information and the a posteriori integrity information show that the first phase deviation product is available, the client's calculation module will achieve high-precision positioning based on the first phase deviation product in combination with other correction products (such as precise orbit, precise clock error, etc.) and the client's observation data; if either the a priori integrity information received at t3 or the a posteriori integrity information received at t6 shows that the first phase deviation product is unavailable, the client will perform an alarm operation at the corresponding time.

[0068] Among them, both the a priori integrity monitoring and the a posteriori integrity monitoring can adopt the integrity monitoring method of step S103 in the first embodiment, which will not be repeated here.

[0069] The integrity monitoring method provided in Example 2 of the present application can effectively detect faults introduced by the encoding and decoding process by performing a priori and a posteriori integrity closed-loop monitoring of the phase deviation product; double-layer fault detection is performed based on the inter-epoch difference and the mutual verification of the phase deviation products obtained by different groups of base stations, which effectively reduces the failure rate and fault missed detection rate of the phase deviation product and improves the performance of the positioning integrity of the navigation system.

[0070] Figure 3 This is a specific flow chart of the integrity monitoring method provided in the third implementation of this application. Figure 3 As shown, the integrity monitoring method of the present application may include the following steps:

[0071] Step S301: obtaining first and second phase deviation products respectively based on original observation data of the ground reference station and the integrity monitoring station;

[0072] Step S302: acquiring the inter-epoch difference of the first phase deviation product epoch by epoch;

[0073] Step S303: determining whether all inter-epoch differences of the first phase deviation product of any epoch are less than or equal to a second preset value;

[0074] If any inter-epoch difference of the first phase deviation product of any epoch is greater than the second preset value, executing step S304: outputting integrity information: the first phase deviation product is unavailable in the corresponding epoch;

[0075] If the inter-epoch differences of the first phase deviation product of any epoch are all less than or equal to the second preset value, executing step S305: determining whether the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch meets the preset condition;

[0076] If the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch meets the preset condition, step S306 is executed: outputting integrity information: the first phase deviation product is available in the corresponding epoch;

[0077] If the relationship between the first phase error product of the corresponding epoch and the second phase error product of the corresponding epoch does not meet the preset condition, step S304 is executed.

[0078] The relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch satisfies a preset condition, including any of the following:

[0079] The difference between the first phase deviation product of the corresponding epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value;

[0080] The difference between the first widelane phase error product and the second widelane phase error product of the corresponding epoch is less than or equal to the widelane threshold, and the difference between the first narrowlane phase error product and the second narrowlane phase error product is less than or equal to the narrowlane threshold.

[0081] The specific implementation process of this embodiment refers to Embodiments 1 and 2, which will not be repeated here.

[0082] The integrity monitoring method provided in Example 3 of the present application designs a double-layer fault detection algorithm from different dimensions and uses independent phase deviation observation data obtained from a dedicated integrity monitoring station to achieve external conformity inspection of the phase deviation product, thereby effectively reducing the failure rate and fault missed detection rate of the phase deviation product and improving the performance of the positioning integrity of the navigation system.

[0083] Figure 4 1 is a schematic diagram of the structure of the server provided in the fourth embodiment of the present application. The server of the present 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 various integrity monitoring method embodiments are implemented.

[0084] The server may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will appreciate that Figure 4 It is only an example of the server and does not constitute a limitation of the server. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the server may also include input and output devices, network access devices, buses, etc.

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

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

[0087] The present application also provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the integrity monitoring method described above are implemented.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0090] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for monitoring the integrity of a GNSS phase deviation product, characterized in that: include: Acquiring original observation data, wherein the original observation data includes first original observation data and second original observation data; Calculating a first phase deviation product according to the first original observation data; monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting integrity information of the first phase deviation product; The first original observation data is the original observation data of the ground reference station; the second original observation data is the original observation data of the integrity monitoring station; The step of monitoring the integrity of the first phase deviation product according to the second original observation data and outputting the integrity information of the first phase deviation product comprises: performing a priori integrity monitoring on the first phase deviation product according to the second original observation data to determine the a priori integrity information of the first phase deviation product; encoding the first phase deviation product, and sending the encoded first phase deviation product and the a priori integrity information to the client; After sending the encoded first phase deviation product and the priori integrity information to the client, it includes: obtaining the first phase deviation product decoded by the client; performing a posteriori integrity monitoring on the decoded first phase deviation product based on the second original observation data, determining the a posteriori integrity information of the first phase deviation product, and sending the a posteriori integrity information to the client.

2. The integrity monitoring method according to claim 1, characterized in that: The step of monitoring the integrity of the first phase deviation product based on the second original observation data and outputting the integrity information of the first phase deviation product includes: calculating the second phase deviation product based on the second original observation data; monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product.

3. The integrity monitoring method according to claim 2, characterized in that: The step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product, includes: if the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is greater than a first preset value, the first phase deviation product of the corresponding frequency is unavailable at the corresponding epoch; if the difference between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value, the first phase deviation product of the corresponding frequency is available at the corresponding epoch.

4. The integrity monitoring method according to claim 2, characterized in that: The first phase deviation product includes a first widelane phase deviation product and a first narrowlane phase deviation product; the second phase deviation product includes a second widelane phase deviation product and a second narrowlane phase deviation product; the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product, further includes: if at any epoch, the difference between the first widelane phase deviation product and the second widelane phase deviation product is greater than a widelane threshold, and / or the difference between the first narrowlane phase deviation product and the second narrowlane phase deviation product is greater than a narrowlane threshold, then the first phase deviation product is not available at the corresponding epoch; if at any epoch, the difference between the first widelane phase deviation product and the second widelane phase deviation product is less than or equal to the widelane threshold, and the difference between the first narrowlane phase deviation product and the second narrowlane phase deviation product is less than or equal to the narrowlane threshold, then the first phase deviation product is available at the corresponding epoch.

5. The integrity monitoring method according to claim 2, characterized in that: Before monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, the method includes: obtaining the inter-epoch difference of the first phase deviation product for each epoch; if any inter-epoch difference of the first phase deviation product of any epoch is greater than a second preset value, the first phase deviation product is unavailable in the corresponding epoch, and the first phase deviation product of the corresponding epoch is removed and does not participate in the calculation of the inter-epoch difference of the next epoch; if all the inter-epoch differences of the first phase deviation product of any epoch are less than or equal to the second preset value, the integrity of the first phase deviation product in the corresponding epoch is monitored according to the relationship between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch, and the integrity information of the first phase deviation product in the corresponding epoch is output.

6. A server, characterized in that: The server 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 integrity monitoring method according to any one of claims 1 to 5 are implemented.

7. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the integrity monitoring method according to any one of claims 1 to 5 are implemented.

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