Method, apparatus, electronic device and storage medium for determining target reference star

Abstract

The present application discloses a method, apparatus, electronic device, and storage medium for determining a target reference star. The method for determining the target reference star includes: obtaining satellite information of a plurality of candidate reference stars, where the satellite information includes the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star; for each candidate reference star, calculating the weighted ionospheric residual of the candidate reference star based on the satellite information of the candidate reference star; for each candidate reference star, when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition, determining the candidate reference star as the target reference star for ionospheric single-difference calculation. By using the method for determining the target reference star provided by the present application, accurate reference stars can be selected with reference to multiple factors, solving the technical problem in the prior art that due to inaccurate selection of reference stars, the positioning result has a large deviation.

Description

Technical Field

[0001] The present application relates to satellite navigation technology, and particularly to a method, apparatus, electronic device and storage medium for determining a target reference star. Background Art

[0002] With the rapid development of satellite navigation technology, the Global Navigation Satellite System (GNSS) plays an increasingly important role in people's daily lives. Among them, Precise Point Positioning (PPP) is a hot issue in current research.

[0003] PPP can achieve real-time centimeter-level positioning accuracy after about 20 minutes of convergence by receiving correction data such as orbits and clock bias deviations broadcast by the server. Moreover, this technology has no regional restrictions and can achieve uniform positioning accuracy globally. Therefore, it has been widely applied in many fields such as geodesy. However, the convergence time of this technology is relatively slow and the accuracy is limited. Currently, most accurate positioning is achieved through the single-difference ionospheric constraint PPP method. In the application of single-difference ionospheric constraint PPP, the selection of the reference star is crucial.

[0004] Currently, in the application of single-difference ionospheric constraint PPP, when selecting a reference star, most often the reference star is selected based on the elevation angle of the satellite. However, this way of selecting the reference star may lead to inaccurate selection of the reference star, and further result in a large deviation in the positioning result. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method, apparatus, electronic device and storage medium for determining a target reference star, which can select an accurate reference star by referring to multiple factors, and solve the technical problem that in the prior art, due to inaccurate selection of the reference star, a large deviation occurs in the positioning result.

[0006] The technical solution of the present application is as follows:

[0007] In a first aspect, a method for determining a target reference star is provided. This method is applied to ionospheric single-difference calculation, and the method includes:

[0008] Obtain satellite information of multiple candidate reference stars, where the satellite information includes the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star;

[0009] For each candidate reference star, calculate the weighted ionospheric residual of the candidate reference star based on the satellite information of the candidate reference star;

[0010] For each of the candidate reference stars, when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition, determine the candidate reference star as the target reference star for ionospheric single-difference calculation.

[0011] In a second aspect, a target reference star determination device is provided. This method is used for ionospheric single-difference calculation. The device includes:

[0012] A satellite information acquisition module, configured to acquire satellite information of multiple candidate reference stars, where the satellite information includes the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the reference star;

[0013] A weighted ionospheric residual determination module, configured to calculate the satellite information of each candidate reference star to obtain the weighted ionospheric residual of the candidate reference star;

[0014] A target reference star determination module, configured to determine, for each candidate reference star, that the candidate reference star is the target reference star for ionospheric single-difference calculation when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition.

[0015] In a third aspect, an embodiment of the present application provides an electronic device. The electronic device includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the target reference star determination method described in any embodiment of the present application are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a readable storage medium. A program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, the steps of the target reference star determination method described in any embodiment of the present application are implemented.

[0017] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:

[0018] In the technical solution of the embodiment of the present application, by obtaining satellite information of at least one candidate reference star, where the satellite information includes at least two of the following: the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the reference star; for each candidate reference star, according to the satellite information of the candidate reference star, obtain the weighted ionospheric residual of the candidate reference star, and for each candidate reference star, when the weighted ionospheric residual of the candidate reference star meets a preset condition, determine the candidate reference star as the target reference star for ionospheric single-difference calculation. In this way, by obtaining multiple satellite information of the candidate reference star and based on this multiple satellite information, the target reference star is selected. Considering multiple factors to select the target reference star, the obtained target reference star is more accurate, solving the problem in the prior art that only relying on the elevation angle to select the target reference star, resulting in inaccurate selection of the target reference star, and further possibly causing a large deviation in the positioning result.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0021] Figure 1 is a flowchart showing a method for determining a target reference star provided by an embodiment of the present application Figure 1 ;

[0022] Figure 2 is a flowchart showing a method for determining a target reference star provided by an embodiment of the present application Figure 2 ;

[0023] Figure 3 is a flowchart showing a process of rough error verification and screening for the weighted ionospheric residual corresponding to a candidate reference star provided by an embodiment of the present application;

[0024] Figure 4 is a structural diagram of a device for determining a target reference star provided by an embodiment of the present application;

[0025] Figure 5 is a structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to enable those of ordinary skill in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples consistent with some aspects of the present application as detailed in the appended claims.

[0028] Based on the background technology, it is known that PPP can achieve real-time centimeter-level positioning accuracy after about 20 minutes of convergence by receiving correction data such as orbits and clock bias deviations broadcast by the server, and this technology has no regional restrictions and can have uniform positioning accuracy globally. Currently, most of the precise positioning is achieved through the single-difference ionosphere-constrained PPP method, and in the application of single-difference ionosphere-constrained PPP, the selection of the reference satellite is crucial.

[0029] Currently, in the application of single-difference ionosphere-constrained PPP, when selecting the reference satellite, most of the reference satellites are selected by the elevation angle of the satellite. However, this way of selecting the reference satellite will lead to inaccurate selection of the reference satellite, and further lead to a large deviation in the positioning result.

[0030] In order to solve the problem in the prior art that only relying on the elevation angle to select the reference satellite leads to inaccurate selection of the reference satellite, and further leads to a large deviation in the precise point positioning result, the embodiments of the present application provide a method for determining a target reference satellite. Specifically, refer to the following embodiments. Based on this method for determining a target reference satellite, the reference satellite can be accurately determined, and precise positioning of precise point positioning can be achieved.

[0031] In one example, the method for determining a target reference satellite provided by the embodiments of the present application can be applied to single-difference ionosphere calculation. Please refer to Figure 1 , the method for determining a target reference satellite provided by the embodiments of the present application can specifically include the following steps:

[0032] S110. Obtain the satellite information of multiple candidate reference stars, where the satellite information includes the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star.

[0033] Among them, the candidate reference star can be the reference star to be selected.

[0034] For each candidate reference star, it has corresponding satellite information. Among them, the satellite information can be the reference parameter information used to determine whether the candidate reference star can be used as the target reference star. Specifically, the satellite information can include the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star. Among them, the target reference star can be the finally determined reference star for precise point positioning.

[0035] In one example, the satellite information corresponding to each candidate reference star can be obtained through the server, and the server will broadcast each satellite information. Specifically, the acquisition method of the satellite information corresponding to each candidate reference star belongs to the prior art and will not be elaborated here in detail.

[0036] In this way, obtaining the multiple satellite information of the candidate reference stars and jointly determining the target reference star based on this multiple satellite information, the determined target reference star is more accurate, and subsequent precise point positioning can be accurately performed based on this target reference star. It solves the technical problem in the prior art that due to inaccurate selection of the reference star, the positioning result has a large deviation.

[0037] S120. For each candidate reference star, calculate the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star.

[0038] For each candidate reference star, the satellite information of the candidate reference star can be calculated to obtain the weighted ionospheric residual of the candidate reference star.

[0039] In one example, it can be based on a preset algorithm to calculate the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star.

[0040] In another example, it can also be based on a neural network model of deep learning to calculate the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star.

[0041] S130. For each candidate reference star, when the weighted ionospheric residual corresponding to the candidate reference star meets the preset conditions, determine the candidate reference star as the target reference star for ionospheric single-difference calculation.

[0042] Among them, the preset conditions can be the conditions that the weighted ionospheric residual corresponding to the candidate reference star needs to meet and are set in advance.

[0043] The target reference star can be the reference star finally determined from multiple candidate reference stars for precise point positioning.

[0044] After determining the weighted ionospheric residuals of each candidate reference star, the candidate reference star whose weighted ionospheric residuals meet the preset conditions is determined as the target reference star. After determining the target reference star, the target reference star is used for ionospheric single-difference calculation.

[0045] After determining the target reference star, based on the target reference star, it can be used for ionospheric single-difference calculation. Based on the calculation result of the ionospheric single-difference calculation, precise point positioning can be achieved. Specifically, based on the target reference star, it is used for ionospheric single-difference calculation. Based on the calculation result of the ionospheric single-difference calculation, precise point positioning can be achieved, which belongs to the prior art and will not be elaborated in detail here.

[0046] The technical solution of the embodiment of the present application obtains the satellite information of multiple candidate reference stars, where the satellite information includes: the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star; for each candidate reference star, according to the satellite information of the candidate reference star, the weighted ionospheric residual of the candidate reference star is obtained. For each candidate reference star, when the weighted ionospheric residual of the candidate reference star meets the preset conditions, the candidate reference star is determined as the target reference star for ionospheric single-difference calculation. In this way, by obtaining the multiple satellite information of the candidate reference star and based on these multiple satellite information, the target reference star is selected. By considering multiple factors to select the target reference star, the obtained target reference star is more accurate, solving the problem in the prior art that only relying on the elevation angle to select the target reference star results in inaccurate selection of the target reference star, which may further lead to a large deviation in the positioning result.

[0047] In order to describe in detail the determination method of the weighted ionospheric residual of the candidate reference star, the embodiment of the present application also provides another implementable manner of the target reference star. Specifically, it can be used to describe in detail the determination method of the weighted ionospheric residual of the candidate reference star. For details, please refer to the following embodiments.

[0048] When calculating the weighted ionospheric residual of the candidate reference star by calculating the satellite information of the candidate reference star, specifically, it is calculated according to the elevation angle of the candidate reference star.

[0049] In one example, calculating the weighted ionospheric residual of the candidate reference star according to the elevation angle of the candidate reference star can specifically be to preset an elevation angle, and calculate the weighted ionospheric residual of the candidate reference star respectively according to the relationship between the elevation angle of the candidate reference star and the preset elevation angle.

[0050] Specifically, the following two cases may be included: The first case is that when the elevation angle of the candidate reference star is greater than or equal to the preset elevation angle, a certain method is used to calculate the weighted ionospheric residual of the candidate reference star. The second case is that when the elevation angle of the candidate reference star is less than the preset elevation angle, another method is used to calculate the weighted ionospheric residual of the candidate reference star.

[0051] Specifically, S120 includes the following steps:

[0052] S1201. When the elevation angle of the candidate reference star is greater than or equal to the preset elevation angle, based on the floating-point filtered ionospheric parameters and the ionospheric correction, obtain the weighted ionospheric residual of the candidate reference star.

[0053] Among them, the preset elevation angle can be a pre-set elevation angle.

[0054] For a certain candidate reference star, when the elevation angle of the candidate is greater than or equal to the preset elevation angle, the weighted ionospheric residual of the candidate reference star can be obtained based on the floating-point filtered ionospheric parameters and the ionospheric correction.

[0055] In one example, specifically, based on the floating-point filtered ionospheric parameters and the ionospheric correction of the candidate reference star, using the following formula 1, obtain the weighted ionospheric residual of the candidate reference star.

[0056] S1202. When the elevation angle of the candidate reference star is less than the preset elevation angle, based on the floating-point filtered ionospheric parameters, the ionospheric correction, and the elevation angle, obtain the weighted ionospheric residual of the candidate reference star.

[0057] For a certain candidate reference star, when the elevation angle of the candidate is less than the preset elevation angle, the weighted ionospheric residual of the candidate reference star can be obtained by the floating-point filtered ionospheric parameters, the ionospheric correction, and the elevation angle.

[0058] In one example, specifically, based on the floating-point filtered ionospheric parameters, the ionospheric correction, and the elevation angle of the candidate reference star, using the following formula 1, obtain the weighted ionospheric residual of the candidate reference star.

[0059]

[0060] Among them, ion filter is the floating-point filtered ionospheric parameter; ion model is the ionospheric correction; elev is the elevation angle; 30 is the preset elevation angle.

[0061] It should be noted that in Formula 1, 30 is only an example of the preset elevation angle in the embodiments of the present application, and does not mean that the preset elevation angle is 30. The preset elevation angle can be estimated by those skilled in the art based on the elevation angles of each candidate reference star obtained, or can be determined by those skilled in the art according to prior experience. Those skilled in the art should know that the preset elevation angle determined by those skilled in the art according to prior experience, or the preset elevation angle estimated by those skilled in the art based on the elevation angles of each candidate reference star obtained, both fall within the scope of protection of the embodiments of the present application.

[0062] In this way, when calculating the weighted ionospheric residuals of each candidate reference star, it is calculated based on the satellite information of each candidate reference star. That is, when calculating the weighted ionospheric residuals of the candidate reference star, multiple factors are referred to. In this way, the target reference star determined based on the weighted ionospheric residuals also refers to multiple factors subsequently, rather than just referring to only one factor such as the elevation angle. The target reference star determined in this way is more accurate, and thus the precise point positioning based on the target reference star is also more accurate.

[0063] The technical solution of the embodiments of the present application determines the weighted ionospheric residuals of the candidate reference star by referring to the satellite information of the candidate reference star. In this way, multiple factors are referred to when calculating the weighted ionospheric residuals of the candidate reference star. In this way, the target reference star determined based on the weighted ionospheric residuals also refers to multiple factors subsequently, rather than just referring to only one factor such as the elevation angle. The target reference star determined in this way is more accurate, and thus the precise point positioning based on the target reference star is also more accurate.

[0064] In the above embodiment, after determining the weighted ionospheric residuals of each candidate reference star, the candidate reference star whose weighted ionospheric residuals meet the preset conditions can be determined as the target reference star.

[0065] In order to describe in detail the process of determining the candidate reference star whose weighted ionospheric residuals meet the preset conditions as the target reference star, the embodiments of the present application also provide another implementable manner of the target reference star determination method, specifically, it can be to describe the process of determining the candidate reference star whose weighted ionospheric residuals meet the preset conditions as the target reference star.

[0066] Calculating the satellite information of the candidate reference star to obtain the weighted ionospheric residuals of the candidate reference star may specifically include the following steps:

[0067] 1301. Perform gross error check and screening on the weighted ionospheric residuals corresponding to the candidate reference star.

[0068] See Figure 2, after obtaining the weighted ionospheric residuals corresponding to each candidate reference star, the weighted ionospheric residuals corresponding to each candidate reference star can be subjected to gross error verification, and each candidate reference star after gross error verification can be screened to obtain candidate reference stars that are not gross errors.

[0069] The specific gross error verification and screening of the weighted ionospheric residuals corresponding to the candidate reference stars will be introduced in detail in the subsequent embodiments and will not be described in detail here.

[0070] 1302. For each candidate reference star after gross error verification and screening, when the elevation angle meets the first preset condition and the weighted ionospheric residual corresponding to the candidate reference star meets the second preset condition, the candidate reference star is determined as the target reference star for ionospheric single difference calculation.

[0071] The first preset condition can be the condition that the elevation angle to be preset needs to meet.

[0072] The second preset condition can be the condition that the weighted ionospheric residual corresponding to the candidate reference star to be preset needs to meet.

[0073] After gross error verification of the weighted ionospheric residuals corresponding to each candidate reference star, candidate reference stars that are not gross errors are screened out, and then candidate reference stars among the candidate reference stars that are not gross errors whose elevation angle meets the first preset condition and the weighted ionospheric residual corresponding to the candidate reference star meets the second preset condition are determined as the target reference stars for ionospheric single difference calculation.

[0074] In one example, when the elevation angle meets the first preset condition and the weighted ionospheric residual corresponding to the candidate reference star meets the second preset condition, determining the candidate reference star as the target reference star for ionospheric single difference calculation can specifically be: selecting the candidate reference star with an elevation angle greater than the preset threshold and the smallest weighted ionospheric residual in the second weighted ionospheric residual set as the target reference star for ionospheric single difference calculation.

[0075] Among them, the preset threshold can be the threshold of the elevation angle preset in advance.

[0076] It should be noted that the preset threshold here can be estimated by those skilled in the art based on the elevation angles of the obtained candidate reference stars, or can be determined by those skilled in the art according to prior experience. Those skilled in the art should know that the preset elevation angle determined by those skilled in the art according to prior experience, or the preset elevation angle estimated by those skilled in the art based on the elevation angles of the obtained candidate reference stars both fall within the scope of protection of the embodiments of the present application.

[0077] After determining the candidate reference stars that are not gross errors, the candidate reference stars that are not gross errors and whose elevation angles are greater than a preset threshold and whose corresponding weighted ionospheric residuals in the second weighted ionospheric residual set are the smallest are selected as the target reference stars for ionospheric single difference calculation.

[0078] The technical solution of the embodiment of the present application performs gross error check and screening on the weighted ionospheric residuals corresponding to the reference star to be selected, and for each reference star to be selected after the gross error check and screening, when the altitude angle meets the first preset condition and the weighted ionospheric residual corresponding to the reference star to be selected meets the second preset condition, determines the reference star to be selected as the target reference star for ionospheric single difference calculation. In this way, the target reference star is determined by comprehensively considering multiple factors, and the obtained target reference star is more accurate, and the subsequent precise single-point positioning based on the target reference star is also more accurate.

[0079] In the above embodiment, it is introduced that the weighted ionospheric residuals corresponding to the selected reference star are checked for gross errors and screened. In order to describe in detail how to check for gross errors and screen the weighted ionospheric residuals corresponding to the selected reference star, an embodiment of the present application provides another implementable method for determining the target reference star. For details, please refer to the following embodiment.

[0080] In the embodiment of the present application, the weighted ionospheric residual corresponding to the reference star to be selected is subjected to gross error verification and screening. For details, see Figure 3 Proceed as shown in the steps:

[0081] S1: Summarize the weighted ionospheric residuals corresponding to the candidate reference stars to obtain a first weighted ionospheric residual set.

[0082] S2: Obtain a target value in the first weighted ionospheric residual set; determine a second weighted ionospheric residual set based on each weighted ionospheric residual in the first weighted ionospheric residual set and the target value.

[0083] S3: Perform a gross error check on the second weighted ionospheric residual set.

[0084] S4: When any weighted ionospheric residual in the second weighted ionospheric residual set is a gross error, the weighted ionospheric residual corresponding to the gross error is deleted from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set.

[0085] Steps S2 to S4 are cyclically executed with the updated first weighted ionospheric residual set until each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error, and the corresponding candidate reference star is obtained.

[0086] The first weighted ionospheric residual set may be a set formed by weighted ionospheric residuals corresponding to each candidate reference star.

[0087] The target value can be a value in the selected first weighted ionospheric residual set. For example, it can be the median of the weighted ionospheric residuals in the first weighted ionospheric residual set, or the average of the weighted ionospheric residuals in the first weighted ionospheric residual set, or the standard deviation of the weighted ionospheric residuals in the first weighted ionospheric residual set, etc.

[0088] The second weighted ionospheric residual set can be a weighted ionospheric residual set determined based on each weighted ionospheric residual in the first weighted ionospheric residual set and the target value.

[0089] In one example, the second weighted ionospheric residual set can be specifically determined in the following manner: Determine the difference between each weighted ionospheric residual in the first weighted ionospheric residual set and the corresponding target value, take the absolute value of the difference, and sum up the absolute values to obtain the second weighted ionospheric residual set.

[0090] After obtaining the weighted ionospheric residuals corresponding to each candidate reference star, first sum up the weighted ionospheric residuals corresponding to each candidate reference star to obtain the first weighted ionospheric residual set.

[0091] Then, obtain the target value in the first weighted ionospheric residual set. For example, it can be the median in the first weighted ionospheric residual set. Determine the difference between each weighted ionospheric residual in the first weighted ionospheric residual set and the corresponding target value, take the absolute value of the difference, and sum up the absolute values to obtain the second weighted ionospheric residual set.

[0092] Then, perform gross error verification on the second weighted ionospheric residual set.

[0093] In one example, the specific method for performing gross error verification on the second weighted ionospheric residual set can be: First, determine the scale factor factor and the maximum residual threshold maxres for gross error verification based on each weighted ionospheric residual in the first weighted ionospheric residual set. Then obtain the target value m2 of the second weighted ionospheric residual set. Then for each weighted ionospheric residual in the second weighted ionospheric residual set (for example, it can be represented by res_abs[i]), if res_abs[i]>factor*m2 and res_abs[i]>maxres, then determine that this weighted ionospheric residual is a gross error. In this way, loop through each weighted ionospheric residual in the second weighted ionospheric residual set to determine whether each weighted ionospheric residual in the second weighted ionospheric residual set is a gross error.

[0094] It should be noted that the target value of the second weighted ionospheric residual set corresponds to the target value in the first weighted ionospheric residual set. That is, if the target value in the first weighted ionospheric residual set is the median of the first weighted ionospheric residual set, the target value of the second weighted ionospheric residual set is also the median of the second weighted ionospheric residual set. If the target value in the first weighted ionospheric residual set is the average of the first weighted ionospheric residual set, the target value of the second weighted ionospheric residual set is also the average of the second weighted ionospheric residual set. If the target value in the first weighted ionospheric residual set is the standard deviation of the first weighted ionospheric residual set, the target value of the second weighted ionospheric residual set is also the standard deviation of the second weighted ionospheric residual set.

[0095] It should be noted that the above-mentioned scale factor and maximum residual threshold are both determined based on the properties of each weighted ionospheric residual. The specific method of determining the scale factor and maximum residual threshold based on the properties of the weighted ionospheric residual belongs to the prior art and will not be elaborated in detail here.

[0096] Then, after looping through each weighted ionospheric residual in the second weighted ionospheric residual set, it is determined whether each weighted ionospheric residual in the second weighted ionospheric residual set is a gross error. The weighted ionospheric residuals determined to be gross errors are deleted from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set.

[0097] Finally, steps S2 to S4 are repeatedly executed with the updated first weighted ionospheric residual set until each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error, and then the candidate reference stars that are not gross errors are obtained.

[0098] In this way, through the above method, the gross error verification and screening of the weighted ionospheric residuals corresponding to the candidate reference stars can be realized.

[0099] In the above embodiment, the stop condition for the loop execution is that each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error.

[0100] In another example, the stop condition for the loop execution can also be to stop the loop when the number of loop iterations exceeds a preset first threshold.

[0101] Among them, the preset first threshold can be the preset number of loop iterations. The preset first threshold here can be set according to user needs and is not limited here.

[0102] In another example, when the stop condition for loop execution is that the number of loop iterations exceeds a preset first threshold, the target reference star can be determined only based on the altitude angle. Specifically, the candidate reference star with an altitude angle greater than the preset threshold can be determined as the target reference star.

[0103] By setting these two loop stop conditions, it is to avoid an infinite loop in order to ensure that each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error. For example, in order to avoid that after thousands of loops, it is still impossible to ensure that each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error and keep looping infinitely like this, which will waste computing resources. To avoid wasting computing resources, when the number of loop iterations exceeds the preset first threshold, the target reference star can be determined only based on the altitude angle, so as to ensure that the target reference star can be determined under any circumstances.

[0104] Based on the target reference star determination method provided in the above embodiments, correspondingly, the present application also provides a specific implementation manner of the target reference star determination device. For the specific implementation manner of the target reference star determination device provided in the present application, please refer to the following embodiments.

[0105] First, refer to Figure 4 , the target reference star determination device provided in the present application may specifically include the following modules:

[0106] The satellite information acquisition module 410 is configured to acquire the satellite information of multiple candidate reference stars, where the satellite information includes: the altitude angle of the candidate reference star, the floating point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star;

[0107] The weighted ionospheric residual determination module 420 is configured to calculate the satellite information of each candidate reference star to obtain the weighted ionospheric residual of the candidate reference star;

[0108] The target reference star determination module 430 is configured to determine the candidate reference star as the target reference star for ionospheric single difference calculation when the weighted ionospheric residual corresponding to the candidate reference star meets the preset conditions.

[0109] In the technical solution of the embodiment of the present application, satellite information of multiple candidate reference stars is obtained through a satellite information acquisition module. Among them, the satellite information includes: the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star. For each candidate reference star, a weighted ionospheric residual of the candidate reference star is obtained based on the satellite information of the candidate reference star by a weighted ionospheric residual determination module. For each candidate reference star, when the weighted ionospheric residual of the candidate reference star meets a preset condition, the candidate reference star is determined as a target reference star for ionospheric single-difference calculation by a target reference star determination module. In this way, by obtaining multiple satellite information of the candidate reference stars and based on these multiple satellite information, the target reference star is selected. Considering multiple factors to select the target reference star, the obtained target reference star is more accurate, solving the problem in the prior art that only relying on the elevation angle to select the target reference star, resulting in inaccurate selection of the target reference star, and thus may lead to a large deviation in the positioning result.

[0110] As an implementation manner of the present application, in order to obtain the weighted ionospheric residual of the candidate reference star, the above-mentioned weighted ionospheric residual determination module 420 may specifically include the following units:

[0111] The first weighted ionospheric residual determination unit is configured to obtain the weighted ionospheric residual of the candidate reference star based on the floating-point filtered ionospheric parameter and the ionospheric correction when the elevation angle of the candidate reference star is greater than or equal to a preset elevation angle;

[0112] The second weighted ionospheric residual determination unit is configured to obtain the weighted ionospheric residual of the candidate reference star based on the floating-point filtered ionospheric parameter, the ionospheric correction, and the elevation angle when the elevation angle of the candidate reference star is less than the preset elevation angle.

[0113] As an implementation manner of the present application, in order to determine the candidate reference star as the target reference star when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition, the above-mentioned target reference star determination module 430 may specifically include the following units:

[0114] The gross error verification unit is configured to perform gross error verification and screening on the weighted ionospheric residual corresponding to the candidate reference star;

[0115] The target reference star determination unit is configured to determine the candidate reference star as a target reference star for ionospheric single-difference calculation for each candidate reference star after gross error verification and screening when the elevation angle meets a first preset condition and the weighted ionospheric residual corresponding to the candidate reference star meets a second preset condition.

[0116] As an implementation manner of the present application, in order to perform gross error verification and screening on the weighted ionospheric residuals corresponding to the candidate reference stars, the gross error verification unit may specifically be used for:

[0117] S1: Summarize the weighted ionospheric residuals corresponding to each of the candidate reference stars to obtain a first weighted ionospheric residual set;

[0118] S2: Obtain a target value in the first weighted ionospheric residual set; based on each of the weighted ionospheric residuals in the first weighted ionospheric residual set and the target value, determine a second weighted ionospheric residual set;

[0119] S3: Perform gross error verification on the second weighted ionospheric residual set;

[0120] S4: When any one of the weighted ionospheric residuals in the second weighted ionospheric residual set is a gross error, delete the weighted ionospheric residual corresponding to the gross error from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set;

[0121] Use the updated first weighted ionospheric residual set to loop through steps S2 to S4 until each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error, and obtain the corresponding candidate reference stars.

[0122] As an implementation manner of the present application, in order to avoid an infinite loop in order to make each weighted ionospheric residual in the second weighted ionospheric residual set not a gross error, when the number of loops of S2 to S4 in the above gross error verification unit exceeds a preset first threshold, stop the loop and determine the target reference star only according to the elevation angle.

[0123] As an implementation manner of the present application, S2 in the above gross error verification unit further includes: determining the difference between each weighted ionospheric residual in the first weighted ionospheric residual set and the corresponding target value, taking the absolute value of the difference, and summarizing each absolute value to obtain the second weighted ionospheric residual set.

[0124] As an implementation manner of the present application, in order to describe in detail how to determine the target reference star, the target reference star determination unit may specifically be used for:

[0125] Select a candidate reference star with an elevation angle greater than a preset threshold and the smallest corresponding weighted ionospheric residual in the second weighted ionospheric residual set as the target reference star for ionospheric single difference calculation.

[0126] In one example, the target value includes any one of the following: average value, median, and standard deviation.

[0127] The target reference star determination device provided by the embodiments of the present application can be used to execute the target reference star determination method provided by each of the above method embodiments. The implementation principles and technical effects are similar. For the sake of brevity, they will not be described in detail here.

[0128] Based on the same inventive concept, the embodiments of the present application also provide an electronic device.

[0129] Figure 5 It is a schematic structural diagram of an electronic device provided by the embodiments of the present application. As Figure 5 shown, the electronic device may include a processor 501 and a memory 502 storing computer programs or instructions.

[0130] Specifically, the above-mentioned processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0131] The memory 502 may include a mass storage for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In a suitable case, the memory 502 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 502 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 502 is a non-volatile solid-state memory. In a specific embodiment, the memory 502 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory or a combination of two or more of these.

[0132] The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any one of the target reference star determination methods in the above embodiments.

[0133] In one example, the electronic device may further include a communication interface 503 and a bus 510. Among them, as Figure 5 shown, the processor 501, the memory 502, and the communication interface 503 are connected through the bus 510 and complete communication with each other.

[0134] The communication interface 503 is mainly used to implement the communication between various modules, devices, units, and / or devices in the embodiments of the present invention.

[0135] The bus 510 includes hardware, software, or both, and couples the components of the electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses or a combination of two or more of these. In a suitable case, the bus 510 may include one or more buses. Although the embodiments of the present invention describe and illustrate specific buses, the present invention contemplates any suitable bus or interconnect.

[0136] The electronic device can execute the target reference star determination method in the embodiments of the present invention, thereby realizing Figures 1 - 3 any of the described target reference star determination methods.

[0137] In addition, in combination with the target reference star determination method in the above embodiments, the embodiments of the present invention can provide a readable storage medium to implement. Program instructions are stored on the readable storage medium; when the program instructions are executed by a processor, any one of the target reference star determination methods in the above embodiments is implemented.

[0138] It should be clear that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present invention is not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present invention.

[0139] The functional blocks shown in the above-described structural block diagrams 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 functional card, and so on. When implemented in software, the elements of the present invention are programs or code segments for performing the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0140] It should also be noted that in the exemplary embodiments mentioned in the present invention, some methods or systems are described based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0141] As described above, the above is only the specific implementation manner of the present invention. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A method for determining a target reference star, characterized in that, the method is used for ionospheric single-difference calculation, and the method includes: obtaining satellite information of multiple candidate reference stars, where the satellite information includes the elevation angle of the candidate reference star, the floating-point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star; for each of the candidate reference stars, calculating the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star; for each of the candidate reference stars, when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition, determining the candidate reference star as the target reference star for ionospheric single-difference calculation; the calculating the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star includes: when the elevation angle of the candidate reference star is greater than or equal to a preset elevation angle, obtaining the weighted ionospheric residual of the candidate reference star based on the floating-point filtered ionospheric parameter and the ionospheric correction; when the elevation angle of the candidate reference star is less than the preset elevation angle, obtaining the weighted ionospheric residual of the candidate reference star based on the floating-point filtered ionospheric parameter, the ionospheric correction, and the elevation angle.

2. The method according to claim 1, characterized in that, the determining the candidate reference star as the target reference star for ionospheric single-difference calculation when the weighted ionospheric residual corresponding to the candidate reference star meets a preset condition includes: performing gross error verification and screening on the weighted ionospheric residual corresponding to the candidate reference star; for each of the candidate reference stars after gross error verification and screening, when the elevation angle meets a first preset condition and the weighted ionospheric residual corresponding to the candidate reference star meets a second preset condition, determining the candidate reference star as the target reference star for ionospheric single-difference calculation.

3. The method according to claim 2, characterized in that, the performing gross error verification and screening on the weighted ionospheric residual corresponding to the candidate reference star includes: S1: Summarizing the weighted ionospheric residuals corresponding to each of the candidate reference stars to obtain a first weighted ionospheric residual set; S2: Obtaining a target value in the first weighted ionospheric residual set; determining a second weighted ionospheric residual set based on each of the weighted ionospheric residuals in the first weighted ionospheric residual set and the target value; S3: Performing gross error verification on the second weighted ionospheric residual set; S4: When any one of the weighted ionospheric residuals in the second weighted ionospheric residual set is a gross error, deleting the weighted ionospheric residual corresponding to the gross error from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set; Looping through steps S2 to S4 with the updated first weighted ionospheric residual set until each of the weighted ionospheric residuals in the second weighted ionospheric residual set is not a gross error, and obtaining the corresponding candidate reference stars.

4. The method according to claim 3, characterized in that, When the number of loops of repeatedly executing steps S2 - S4 exceeds a preset first threshold, stop the loop and determine the target reference star only based on the elevation angle.

5. The method according to claim 3, wherein, step S2 further includes: Determine the difference between each weighted ionospheric residual in the first weighted ionospheric residual set and the corresponding target value, take the absolute value of the difference, and sum up the absolute values to obtain the second weighted ionospheric residual set.

6. The method according to claim 3, wherein, the case where the elevation angle satisfies a first preset condition and the ionospheric residual corresponding to the candidate reference star satisfies a second preset condition, determining the candidate reference star as the target reference star for ionospheric single - difference calculation, includes: Select the candidate reference star with an elevation angle greater than a preset threshold and the smallest corresponding weighted ionospheric residual in the second weighted ionospheric residual set as the target reference star for ionospheric single - difference calculation.

7. The method according to any one of claims 3 or 5, wherein, the target value includes any one of the following: average value, median, and standard deviation.

8. A target reference star determination device, wherein, the device includes: A satellite information acquisition module, configured to acquire satellite information of multiple candidate reference stars, where the satellite information includes: the elevation angle of the candidate reference star, the floating - point filtered ionospheric parameter of the candidate reference star, and the ionospheric correction of the candidate reference star; A weighted ionospheric residual determination module, configured to calculate, for each candidate reference star, the satellite information of the candidate reference star to obtain the weighted ionospheric residual of the candidate reference star; A target reference star determination module, configured to determine, for each candidate reference star, the candidate reference star as the target reference star for ionospheric single - difference calculation when the weighted ionospheric residual corresponding to the candidate reference star satisfies a preset condition; The weighted ionospheric residual determination module is specifically configured to: When the elevation angle of the candidate reference star is greater than or equal to a preset elevation angle, obtain the weighted ionospheric residual of the candidate reference star based on the floating - point filtered ionospheric parameter and the ionospheric correction; When the elevation angle of the candidate reference star is less than the preset elevation angle, obtain the weighted ionospheric residual of the candidate reference star based on the floating - point filtered ionospheric parameter, the ionospheric correction, and the elevation angle.

9. An electronic device, wherein, it includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, it implements the steps of the target reference star determination method according to any one of claims 1 - 7.

10. A readable storage medium, wherein, a program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, it implements the steps of the target reference star determination method according to any one of claims 1 - 7.

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