Global navigation satellite system observation value simulation method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for simulating observation values ​​of a global navigation satellite system. The method for simulating observation values ​​of a global navigation satellite system includes: determining target parameters for simulating observation values ​​of a global navigation satellite system GNSS according to terminal trajectory data, broadcast ephemeris data and state space description SSR data; and generating simulated observation values ​​of the GNSS according to the target parameters. The method, device, equipment and medium for simulating observation values ​​of a global navigation satellite system of the present application can improve the accuracy of simulation of GNSS observation values.

Description

Technical Field

[0001] The present application belongs to the field of satellite communication technology, and specifically relates to a method, device, equipment and medium for simulating observation values ​​of a global navigation satellite system. Background Art

[0002] The global satellite navigation system, also known as the Global Navigation Satellite System (GNSS), is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the earth's surface or in near-Earth space.

[0003] In the related art, empirical models are mainly used to simulate GNSS observation values. However, the simulation accuracy of GNSS observation values ​​using empirical models is low. Summary of the invention

[0004] The embodiments of the present application provide a global navigation satellite system observation value simulation method, device, equipment and medium, which can improve the accuracy of GNSS observation value simulation.

[0005] In a first aspect, an embodiment of the present application provides a method for simulating observation values ​​of a global navigation satellite system, comprising:

[0006] Determine target parameters for simulating GNSS observations based on terminal trajectory data, broadcast ephemeris data, and state space representation (SSR) data;

[0007] Generate GNSS simulation observation values ​​according to the target parameters.

[0008] In a second aspect, an embodiment of the present application provides a global navigation satellite system observation value simulation device, including:

[0009] A determination module, for determining target parameters for simulating GNSS observations based on the terminal trajectory data, the broadcast ephemeris data, and the SSR data;

[0010] The generation module is used to generate GNSS simulation observation values ​​according to target parameters.

[0011] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the global navigation satellite system observation value simulation method of the first aspect.

[0012] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the global navigation satellite system observation value simulation method as in the first aspect are implemented.

[0013] In the embodiment of the present application, the target parameters for simulating GNSS observations are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data; then, the simulated observations of GNSS are generated based on the target parameters. Since the target parameters of the embodiment of the present application are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data, and are not determined using an empirical model, the simulated observations of GNSS generated according to the embodiment of the present application are more accurate than those of the related art, and can improve the accuracy of the simulated observations of GNSS. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 It is a flowchart of a GNSS observation value simulation method provided in an embodiment of the present application;

[0016] Figure 2 It is a structural schematic diagram of a GNSS observation value simulation device provided in an embodiment of the present application;

[0017] Figure 3 It is a schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application. DETAILED DESCRIPTION

[0018] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0019] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0020] The following, in conjunction with the accompanying drawings, describes in detail the GNSS observation value simulation method, device, equipment and medium provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0021] Figure 1 : is a flow chart of a GNSS observation value simulation method provided in an embodiment of the present application. The GNSS observation value simulation method may include:

[0022] S101: determining target parameters for simulating GNSS observation values ​​according to terminal trajectory data, broadcast ephemeris data and SSR data;

[0023] S102: Generate GNSS simulation observation values ​​according to the target parameters.

[0024] The specific implementation of the above steps will be described in detail below.

[0025] In the embodiment of the present application, the target parameters for simulating GNSS observations are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data; then, the simulated observations of GNSS are generated based on the target parameters. Since the target parameters of the embodiment of the present application are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data, and are not determined using an empirical model, the simulated observations of GNSS generated according to the embodiment of the present application are more accurate than those of the related art, and can improve the accuracy of the simulated observations of GNSS.

[0026] In some possible implementations of the embodiments of the present application, in S101, the terminal trajectory refers to a curve formed by the continuous change of the terminal's position over time. The terminal trajectory data stores the position of the terminal at any time. The broadcast ephemeris is determined and provided by the ground control part of the GNSS. It is a radio signal broadcast by the satellite that carries telegram information predicting the number of satellite orbit elements within a certain period of time; wherein, the orbit elements are also called orbital elements and orbital parameters, which are the parameters necessary to determine the orbit of a celestial body or spacecraft under the action of Newton's laws of motion and Newton's law of universal gravitation when it moves on its Kepler orbit. Commonly used parameters include: orbital inclination, ecliptic longitude of the ascending node, orbital eccentricity, perihelion angle, orbital semi-axis length and mean anomaly angle of a specified epoch. SSR data includes at least one of precise satellite orbit data, precise satellite clock error data, satellite-side pseudo-range code deviation data, satellite-side carrier phase hardware delay data, precise ionosphere data and precise troposphere data.

[0027] In some possible implementations of the embodiments of the present application, the simulation observation equation of GNSS is as follows:

[0028]

[0029]

[0030]

[0031] Among them, formula (1) is the pseudorange simulation observation equation, formula (2) is the carrier simulation observation equation, and formula (3) is the Doppler simulation observation equation.

[0032] In the above formula, is the simulated pseudorange observation value from satellite s to terminal r at frequency i and channel type c; is the distance between satellite s and terminal r; t r,sys is the clock error of terminal r relative to the satellite system sys including satellite s; t s is the clock error of satellite s; is the tropospheric projection function from terminal r to satellite s; ZTD is the zenith tropospheric delay at terminal r; is the ionospheric delay from satellite s to terminal r at frequency i; is the pseudorange code deviation of terminal r at frequency i and channel type c; code bias s,i,c is the pseudorange code bias of satellite s at frequency i and channel type c; model_correction is the model correction, including corrections for solid tide, ocean tide, polar tide, etc.; is the pseudorange observation noise from satellite s to terminal r at frequency i and channel type c; is the simulated observation value of the carrier phase from satellite s to terminal r at frequency i and channel type c; is the wavelength of the carrier phase observation of satellite s at frequency i; is the carrier phase ambiguity from satellite s to terminal r on frequency i and channel type c; windup is the phase wrap-around correction; is the carrier phase hardware delay of terminal r at frequency i and channel type c; phase_bias s,i,c is the carrier phase hardware delay of satellite s at frequency i and channel type c; is the carrier phase observation noise from satellite s to terminal r at frequency i and channel type c; is the simulated Doppler observation value from satellite s to terminal r at frequency i and channel type c; v r is the velocity of terminal r under the ground fixed system; v s is the velocity of satellite s in the earth-fixed system; is the unit vector of the satellite-to-earth distance from satellite s to terminal r; is the clock drift of terminal r relative to the satellite system sys; For the clock drift of satellite s; is the Doppler observation noise from satellite s to terminal r at frequency i and channel type c.

[0033] In some possible implementations of the embodiments of the present application, the target parameter in S101 may include at least one of the following items:

[0034] The distance from the satellite to the terminal in GNSS;

[0035] Satellite clock error;

[0036] Zenith tropospheric delay at the terminal;

[0037] The ionospheric delay from the satellite to the terminal at the target frequency;

[0038] Pseudorange code deviation of the satellite on the target frequency and target channel type;

[0039] Satellite carrier phase hardware delay on target frequency and target channel type;

[0040] The speed of the satellite in the fixed system.

[0041] The satellite's clock is floating.

[0042] In some possible implementations of the embodiments of the present application, in S101, the location (x r ,y r , z rThe position of satellite s at that moment can be obtained through the broadcast ephemeris data corresponding to satellite s, and the precise position of satellite s at that moment can be obtained by combining the precise satellite orbit data (x s ,y s , z s ). Then, according to the position of the terminal r and the precise position of the satellite s (x s ,y s , z s ) can calculate the high-precision distance from satellite s to terminal r The clock error of satellite s can also be obtained through the broadcast ephemeris data corresponding to satellite s. Combined with the precise satellite clock error data, the high-precision clock error t of satellite s can be obtained. s The pseudo-range code deviation code of satellite s at frequency i and channel type c can be obtained through the pseudo-range code deviation data at the satellite end. bias s,i,c The carrier phase hardware delay data of the satellite can be used to obtain the carrier phase hardware delay phase_bias of satellite s at frequency i and channel type c. s,i,c The zenith tropospheric delay ZTD at terminal r can be obtained through precise tropospheric data. The ionospheric delay from satellite s to terminal r on frequency i can be obtained through precise ionospheric data. The satellite s's motion velocity v in the ground fixed system can be calculated by broadcasting ephemeris data. s and the clock of satellite s According to the location of terminal r, the location of satellite s and the distance from satellite s to terminal r The following formula (4) can be used to calculate the distance unit vector from satellite s to terminal r:

[0043]

[0044] In some possible implementations of the embodiments of the present application, the distance from the satellite s to the terminal r is calculated according to the position of the terminal r and the precise position of the satellite s. The distance formula between two points can be used.

[0045] In some possible implementations of the embodiments of the present application, when generating the simulated observation value of the GNSS, the clock error t of the terminal r relative to the satellite system sys may be r,sys , the pseudorange code deviation of terminal r at frequency i and channel type c Pseudorange observation noise from satellite s to terminal r at frequency i and channel type c Carrier phase ambiguity from satellite s to terminal r on frequency i and channel type c Carrier phase hardware delay of terminal r at frequency i and channel type c Noise on carrier phase observations from satellite s to terminal r at frequency i and channel type c The clock drift of terminal r relative to the satellite system sys Doppler observation noise from satellite s to terminal r at frequency i and channel type c Both are set to 0.

[0046] In some possible implementations of the embodiments of the present application, when generating the simulated observation value of the GNSS, a zero-mean Gaussian white noise simulation may be used to generate

[0047] In some possible implementations of the embodiments of the present application, when generating the simulated observation value of the GNSS, an integer generated by a random number seed may be used to determine

[0048] In some possible implementations of the embodiments of the present application, when generating the simulated observation values ​​of the GNSS, a preset model may be used to determine the tropospheric projection function from the terminal r to the satellite s. Model correction model_correction, phase winding correction windup.

[0049] After obtaining the above parameters, the above parameters are substituted into the above formulas (1), (2) and (3), and the pseudo-range simulation observation value from satellite s to terminal r at frequency i and channel type c can be obtained: Simulated observations of carrier phase from satellite s to terminal r on frequency i and channel type c Simulated Doppler observations from satellite s to terminal r at frequency i and channel type c

[0050] In some possible implementations of the embodiments of the present application, when the target parameter includes the distance between the satellite s and the terminal r When the satellite s is connected to the terminal r, the unit vector of the satellite-to-earth distance can be obtained. Therefore, the pseudorange simulation observation value Carrier phase simulation observations and Doppler simulation observations Are all available.

[0051] In some possible implementations of the embodiments of the present application, when the target parameter includes the clock error t of the satellite s s , the zenith tropospheric delay ZTD at terminal r and the ionospheric delay from satellite s to terminal r at frequency i When at least one of the following is true, the pseudo-range simulation observation value can be obtained. and carrier phase simulation observations

[0052] In some possible implementations of the embodiments of the present application, when the target parameter includes the pseudorange code deviation code of satellite s at frequency i and channel type c bias s,i,c When the pseudo-range simulation observation value is

[0053] In some possible implementations of the embodiments of the present application, when the target parameter includes the carrier phase hardware delay phase_bias of satellite s on frequency i and channel type c s,i,c When the carrier phase simulation observation value is

[0054] In some possible implementations of the embodiments of the present application, when the target parameter includes the motion speed v of the satellite s in the ground-fixed system s and / or satellite clock drift When , the Doppler simulation observation value can be obtained

[0055] That is, the simulated observation values ​​of GNSS include the simulated pseudorange observation values ​​from satellite s to terminal r at frequency i and channel type c. Carrier phase simulation observations and Doppler simulation observations At least one of .

[0056] In a preferred embodiment of the present application, the target parameter includes the distance between the satellite s and the terminal r. The clock error of satellite s is t s , the zenith tropospheric delay ZTD at terminal r, the ionospheric delay from satellite s to terminal r at frequency i Pseudorange code deviation code of satellite s on frequency i and channel type c bias s,i,c , carrier phase hardware delay phase_bias of satellite s at frequency i and channel type c s,i,c , the velocity v of the satellite s in the fixed system s and the clock of satellite s The pseudo-range simulation observation value obtained at this time Carrier phase simulation observations and Doppler simulation observations All have high precision.

[0057] In some possible implementations of the embodiments of the present application, before S102, the GNSS observation value simulation method provided in the embodiments of the present application may further include: injecting an error into the target parameter according to a preset error. Accordingly, S102 may include: generating a simulated observation value of the GNSS according to the target parameter after the error injection.

[0058] In some possible implementations of the embodiments of the present application, when the target parameter is the distance from the satellite to the terminal in the GNSS, the preset error includes a radial error, a tangential error, and a normal error set based on a satellite-fixed system; accordingly, according to the preset error, an error is injected into the target parameter, including: converting the radial error, the tangential error, and the normal error into a three-dimensional error of the earth-fixed system through a rotation matrix; and injecting an error into the distance according to the three-dimensional error.

[0059] Specifically, the orbital maneuver error of satellite s in the radial, tangential and normal directions in the satellite-fixed system are According to the following formulas (5) to (8), the above three directional components are converted into three directional components under the ground fixed system.

[0060]

[0061]

[0062] e radial =e along ×e cross (7)

[0063]

[0064] Wherein, in the above formulas (5) to (8), r is the satellite position vector obtained using the broadcast ephemeris; is the satellite velocity vector obtained using the broadcast ephemeris; radial , e along and e cross are the radial, tangential and normal unit vectors in the satellite fixed system respectively; the components of the orbital maneuvering error of satellite s in the X, Y and Z directions in the ground fixed system are delta_x s 、delta_y s and delta_z s .

[0065] Assuming that no orbital maneuvering error is injected, the precise position of satellite s is (x s ,y s , z s ), the position of the satellite s injected with orbital maneuver error is (x′ s , y′ s , z′ s ),in,

[0066]

[0067] According to the position of satellite s after the orbit maneuver error is injected (x′ s , y′ s , z′ s), the distance from the satellite s to the terminal r with orbit maneuver error injected can be obtained Will Substituting into the above formulas (1) and (2), we can obtain the pseudo-range simulation observation value injected with the orbit maneuver error of satellite s: and carrier phase simulation observations according to We can also get the distance unit vector from satellite s to terminal r injected with the orbital maneuver error of satellite s: The distance unit vector from satellite s to terminal r with the orbital maneuver error of satellite s injected Substituting into the above formula (3), we can obtain the Doppler simulation observation value injected with the orbit maneuver error of satellite s:

[0068] In some possible implementations of the present application, it is assumed that the preset error is the satellite clock error clock_error s , without injecting satellite clock error abnormal error, the satellite clock error is t s , the satellite clock error injected with the satellite clock error is t′ s , where t′ s =t s +clock_error s , change t′ s Substituting into the above formulas (1) and (2), we can obtain the pseudo-range simulation observation value injected with the satellite clock abnormal error: and carrier phase simulation observations

[0069] In some possible implementations of the present application, it is assumed that the preset error is the satellite pseudorange code abnormal error code_bias_error s,i,c ; When no satellite pseudorange code abnormal error is injected, the pseudorange code deviation of satellite s at frequency i and channel type c is code bias s,i,c , the pseudo-range code bias of satellite s injected with abnormal satellite pseudo-range code error is code_bias′ s,i,c , where code_bias′ s,i,c =code_bias s,i,c +code_bias_error s,i,c , code_bias′ s,i,c Substituting into the above formula (1), we can get the pseudorange simulation observation value injected with the satellite pseudorange code abnormal error:

[0070] In some possible implementations of the embodiments of the present application, it is assumed that the preset error is the satellite carrier phase hardware delay abnormal error phase_bias_error s,i,c ; When no satellite carrier phase hardware delay abnormal error is injected, the carrier phase hardware delay deviation of satellite s at frequency i and channel type c is phase_bias s,i,c , the satellite s carrier phase hardware delay deviation injected with the satellite carrier phase hardware delay abnormal error is phase_bias′ s,i,c , where phase_bias′ s,i,c =phase_bias s,i,c +phase_bias_error s,i,c , phase_bias′ s,i,c Substituting into the above formula (2), we can get the carrier phase simulation observation value injected with the satellite carrier phase hardware delay anomaly error:

[0071] In some possible implementations of the embodiments of the present application, it is assumed that the preset error is a tropospheric anomaly error ztd_trop_error; the zenith tropospheric delay at the terminal r when the tropospheric anomaly error is not injected is ZTD, and the zenith tropospheric delay at the terminal r injected with the tropospheric anomaly error is ZTD′, wherein ZTD′=ZTD+ztd_trop_error, and ZTD′ is substituted into the above formulas (1) and (2), and the pseudorange simulation observation value injected with the tropospheric anomaly error can be obtained. and carrier phase simulation observations

[0072] In some possible implementations of the present application, it is assumed that the preset error is the ionospheric anomaly error When no ionospheric anomaly error is injected, the ionospheric delay from satellite s to terminal r at frequency i is The ionospheric delay with ionospheric anomaly error injected is in, Will Substituting into the above formulas (1) and (2), we can obtain the pseudorange simulation observation value injected with ionospheric anomaly error: and carrier phase simulation observations

[0073] In a preferred embodiment of the present application, when the target parameter includes the distance between the satellite s and the terminal r The clock error of satellite s is t s , the zenith tropospheric delay ZTD at terminal r, the ionospheric delay from satellite s to terminal r at frequency i Pseudorange code deviation code of satellite s on frequency i and channel type cbias s,i,c , carrier phase hardware delay phase_bias of satellite s at frequency i and channel type c s,i,c , the velocity v of the satellite s in the fixed system s and the clock of satellite s When the satellite is operated, orbital maneuvering error, satellite clock anomaly error, satellite pseudorange code anomaly error, satellite carrier phase hardware delay anomaly error, tropospheric anomaly error and ionospheric anomaly error can be injected simultaneously.

[0074] It should be noted that the GNSS observation value simulation method provided in the embodiment of the present application can be executed by a GNSS observation value simulation device, or a control module in the GNSS observation value simulation device for executing the GNSS observation value simulation method. In the embodiment of the present application, the GNSS observation value simulation device provided in the embodiment of the present application is illustrated by taking the GNSS observation value simulation device executing the GNSS observation value simulation method as an example.

[0075] Figure 2 2 is a schematic diagram of the structure of a GNSS observation value simulation device provided in an embodiment of the present application. The GNSS observation value simulation device 200 may include:

[0076] A determination module 201, for determining target parameters for simulating GNSS observations based on terminal trajectory data, broadcast ephemeris data and SSR data;

[0077] The generating module 202 is used to generate the simulated observation values ​​of the GNSS according to the target parameters.

[0078] In the embodiment of the present application, the target parameters for simulating GNSS observations are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data; then, the simulated observations of GNSS are generated based on the target parameters. Since the target parameters of the embodiment of the present application are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data, and are not determined using an empirical model, the simulated observations of GNSS generated according to the embodiment of the present application are more accurate than those of the related art, and can improve the accuracy of the simulated observations of GNSS.

[0079] In some possible implementations of the embodiments of the present application, the target parameter includes at least one of the following items:

[0080] The distance from the satellite to the terminal in GNSS;

[0081] Satellite clock error;

[0082] Zenith tropospheric delay at the terminal;

[0083] the ionospheric delay from the satellite to the terminal at the target frequency;

[0084] The pseudorange code deviation of the satellite at the target frequency and target channel type;

[0085] a carrier phase hardware delay of the satellite at the target frequency and the target channel type;

[0086] The speed of the satellite in the earth-fixed system;

[0087] The satellite's clock drifts.

[0088] In some possible implementations of the embodiments of the present application, the simulation observation value includes at least one of the following items:

[0089] At the target frequency and target channel type, the satellite-to-terminal pseudorange simulation observation value, carrier phase simulation observation value and Doppler simulation observation value in the GNSS.

[0090] In some possible implementations of the embodiments of the present application, the GNSS observation value simulation device 200 provided in the embodiments of the present application may further include:

[0091] The error injection module is used to inject an error into the target parameter according to a preset error.

[0092] Accordingly, the generating module 202 may be specifically used for:

[0093] The simulated observation value of the GNSS is generated according to the target parameter after the error injection.

[0094] In some possible implementations of the embodiments of the present application, when the target parameter is the distance from the satellite to the terminal in the GNSS, the preset error includes a radial error, a tangential error, and a normal error set based on a satellite-fixed system.

[0095] Accordingly, the error injection module can be specifically used for:

[0096] The radial error, the tangential error and the normal error are converted into a three-dimensional error of an earth-fixed system by a rotation matrix;

[0097] Error injection is performed on the distance according to the three-dimensional error.

[0098] The GNSS observation value simulation device in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (Ultra-mobile Personal Computer, UMPC), a netbook or a personal digital assistant (Personal Digital Assistant, PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (Personal Computer, PC), a television (Television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0099] The GNSS observation value simulation device provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes in the GNSS observation value simulation method embodiment are not described here.

[0100] Figure 3 It is a schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0101] The electronic device 300 includes but is not limited to: a radio frequency unit 301, a network module 302, an audio output unit 303, an input unit 304, a sensor 305, a display unit 306, a user input unit 307, an interface unit 308, a memory 309, and a processor 410 and other components.

[0102] Those skilled in the art will appreciate that the electronic device 300 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 310 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 3 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0103] The processor 310 is used to determine target parameters for simulating GNSS observation values ​​according to the terminal trajectory data, the broadcast ephemeris data and the SSR data; and generate simulated observation values ​​of the GNSS according to the target parameters.

[0104] In the embodiment of the present application, the target parameters for simulating GNSS observations are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data; then, the simulated observations of GNSS are generated based on the target parameters. Since the target parameters of the embodiment of the present application are determined based on the terminal trajectory data, broadcast ephemeris data and SSR data, and are not determined using an empirical model, the simulated observations of GNSS generated according to the embodiment of the present application are more accurate than those of the related art, and can improve the accuracy of the simulated observations of GNSS.

[0105] In some possible implementations of the embodiments of the present application, the processor 310 may also be used for:

[0106] According to the preset error, error injection is performed on the target parameter;

[0107] The simulated observation value of the GNSS is generated according to the target parameter after the error injection.

[0108] In some possible implementations of the embodiments of the present application, when the target parameter is the distance from the satellite to the terminal in the GNSS, the preset error includes a radial error, a tangential error, and a normal error set based on a satellite-fixed system.

[0109] Accordingly, the processor 310 may be specifically configured to:

[0110] The radial error, the tangential error and the normal error are converted into a three-dimensional error of an earth-fixed system by a rotation matrix;

[0111] Error injection is performed on the distance according to the three-dimensional error.

[0112] It should be understood that in the embodiment of the present application, the input unit 304 may include a graphics processor (Graphics Processing Unit, GPU) 3041 and a microphone 3042, and the graphics processor 3041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 306 may include a display panel 3061, and the display panel 3061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 307 includes a touch panel 3071 and other input devices 3072. The touch panel 3071 is also called a touch screen. The touch panel 3071 may include two parts: a touch detection device and a touch controller. Other input devices 3072 may include but are not limited to a physical keyboard, a function key (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here. The memory 309 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 310 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, the user interface, and the application program, and the modem processor mainly processes wireless communication. It is understandable that the above-mentioned modem processor may not be integrated into the processor 310.

[0113] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned GNSS observation value simulation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0114] The processor is the processor in the electronic device in the above embodiment. Examples of computer-readable storage media include non-transitory machine-readable media, such as electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, etc.

[0115] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0116] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Computer-readable medium" can include any medium capable of storing or transmitting information. Examples of computer-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0117] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0118] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0119] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for simulating observation values ​​of a global navigation satellite system, characterized in that: The method comprises: Determine target parameters for simulating GNSS observations based on terminal trajectory data, broadcast ephemeris data, and state space description (SSR) data; Generating a simulated observation value of the GNSS according to the target parameter; Before generating the simulated observation value of the GNSS according to the target parameter, the method further includes: According to a preset error, an error is injected into the target parameter; Generating the simulated observation value of the GNSS according to the target parameter includes: Generating a simulated observation value of the GNSS according to the target parameter after error injection; When the target parameter is the distance from the satellite to the terminal in the GNSS, the preset error includes a radial error, a tangential error, and a normal error set based on a satellite-fixed system; The step of injecting an error into the target parameter according to a preset error comprises: The radial error, the tangential error and the normal error are converted into a three-dimensional error of an earth-fixed system by a rotation matrix; Error injection is performed on the distance according to the three-dimensional error.

2. The method according to claim 1, characterized in that The target parameters include at least one of the following: The distance from the satellite in the GNSS to the terminal; The satellite's clock error; the zenith tropospheric delay of the terminal; The ionospheric delay from the satellite to the terminal at the target frequency; The pseudorange code deviation of the satellite at the target frequency and target channel type; a carrier phase hardware delay of the satellite at the target frequency and the target channel type; The speed of the satellite in the earth-fixed system; The satellite's clock drifts.

3. The method according to claim 1, characterized in that The simulation observation value includes at least one of the following items: At the target frequency and target channel type, the satellite-to-terminal pseudorange simulation observation value, carrier phase simulation observation value and Doppler simulation observation value in the GNSS.

4. A global navigation satellite system observation value simulation device, characterized in that: The device comprises: A determination module, for determining target parameters for simulating global navigation satellite system GNSS observations based on terminal trajectory data, broadcast ephemeris data and state space description SSR data; A generating module, used for generating a simulated observation value of the GNSS according to the target parameter; The device also includes: An error injection module, used for injecting an error into the target parameter according to a preset error; The generation module is specifically used for: Generating a simulated observation value of the GNSS according to the target parameter after error injection; When the target parameter is the distance from the satellite to the terminal in the GNSS, the preset error includes a radial error, a tangential error, and a normal error set based on a satellite-fixed system; The error injection module is specifically used for: The radial error, the tangential error and the normal error are converted into a three-dimensional error of an earth-fixed system by a rotation matrix; Error injection is performed on the distance according to the three-dimensional error.

5. The device according to claim 4, characterized in that The target parameters include at least one of the following: The distance from the satellite in the GNSS to the terminal; The satellite's clock error; the zenith tropospheric delay of the terminal; The ionospheric delay from the satellite to the terminal at the target frequency; The pseudorange code deviation of the satellite at the target frequency and target channel type; a carrier phase hardware delay of the satellite at the target frequency and the target channel type; The speed of the satellite in the earth-fixed system; The satellite's clock drifts.

6. The device according to claim 4, characterized in that The simulation observation value includes at least one of the following items: At the target frequency and target channel type, the satellite-to-terminal pseudorange simulation observation value, carrier phase simulation observation value and Doppler simulation observation value in the GNSS.

7. An electronic device, characterized in that: The electronic device includes: a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the global navigation satellite system observation value simulation method as described in any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the global navigation satellite system observation value simulation method as described in any one of claims 1 to 3 are implemented.

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