Method, device, electronic device and storage medium for determining target frequency phase deviation

Abstract

The present application discloses a method, device, electronic device and storage medium for determining a target inter-frequency phase deviation. The method is applied to a frequency division multiple access system, and includes: calculating the original observation data acquired from multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data, and a preset carrier phase ambiguity sum; clustering each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category; calculating each two-dimensional data element in the two-dimensional data set in each clustering category to obtain a target element representing the characteristics of each clustering category; based on the target element and the carrier phase ambiguity sum, solving the optimization equation to obtain the target inter-frequency phase deviation. The target inter-frequency phase deviation determination method provided by the present application can solve the technical problem of inaccurate calculation of the inter-frequency phase deviation in the prior art.

Description

Technical Field

[0001] The present application relates to space reference and precision positioning technology in the field of satellite navigation, and specifically to a method, device, electronic device and storage medium for determining a target frequency phase deviation. 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. GNSS uses Frequency Division Multiple Access / Address (FDMA) technology, which will cause inter-frequency phase bias (IFPB) between the satellite and receiver when observing signals. How to solve the inter-frequency phase bias is a hot topic in current research.

[0003] At present, the method for eliminating the inter-frequency deviation is to use a zero baseline or a short baseline to form a single difference or a double difference to calibrate the IFPB. However, when using this method to calibrate the IFPB, since the above method is a parameter algorithm, the correctness of the result is determined by the given parameters. However, there are no specific rules for the selection of parameters, and manual input and adjustment are required. If the correct parameters are selected, the correct results will be output. If the wrong parameters are selected, the wrong results will be output. This causes the IFPB calculated using the existing technology to be inaccurate. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, electronic device and storage medium for determining a target inter-frequency phase deviation, which can solve the technical problem of inaccurate calculation of the inter-frequency phase deviation in the prior art.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, a method for determining a target inter-frequency phase deviation is provided, the method being applied to a frequency division multiple access satellite system, the method comprising:

[0007] Calculating the acquired original observation data of the plurality of observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes a difference between double-difference carrier phase residuals of two satellites among the plurality of satellites and a channel number of the two satellites;

[0008] Clustering each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category;

[0009] Calculating each two-dimensional data element in the two-dimensional data set in each cluster category respectively to obtain a target element representing a feature of each cluster category;

[0010] Based on the target element and the sum of the carrier phase ambiguities, a target inter-frequency phase deviation for a frequency division multiple access satellite system is obtained by solving an optimization equation.

[0011] In a second aspect, a target inter-frequency phase deviation determination device is provided, the device being applied to a frequency division multiple access satellite system, the device comprising:

[0012] A two-dimensional data set determination module is used to calculate the original observation data of the acquired multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes a difference between double-difference carrier phase residuals of two satellites among the multiple satellites and a channel number of the two satellites;

[0013] A clustering module, used for clustering each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category;

[0014] A target element determination module, used to calculate each two-dimensional data element in the two-dimensional data set in each cluster category respectively to obtain a target element representing the characteristics of each cluster category;

[0015] The target inter-frequency phase deviation determination module is used to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation based on the target element and the sum of the carrier phase ambiguities.

[0016] 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 target inter-frequency phase deviation determination method described in any embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a 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 method for determining the target inter-frequency phase deviation described in any embodiment of the present application are implemented.

[0018] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0019] The technical solution of the embodiment of the present application is to calculate the original observation data of multiple observation satellites to obtain a two-dimensional data set including the double-difference carrier phase residuals of two satellites among the multiple satellites and the difference between the channel numbers of the two satellites, and a preset carrier phase ambiguity sum corresponding to the original observation data, and then cluster the two-dimensional data set to obtain at least one cluster category, calculate each two-dimensional data element in the two-dimensional data set in each cluster category, and obtain a target element representing the characteristics of each cluster category, and based on the target element and the carrier phase ambiguity sum, obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation. In this way, since the carrier phase ambiguity sum is obtained based on the original observation data of multiple observation satellites, the carrier phase ambiguity sum is used to replace the parameters that need to be manually input before, and the target inter-frequency phase deviation obtained will be more accurate, and there is no need to manually input parameters here, which saves labor costs and improves the efficiency of determining the target inter-frequency phase deviation.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0022] Figure 1 It is a flowchart of a method for determining a target frequency phase deviation provided in an embodiment of the present application;

[0023] Figure 2 It is a structural schematic diagram of a target frequency phase deviation determination device provided in an embodiment of the present application;

[0024] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make those of ordinary skill in the art better understand the technical solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings. 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.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. 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 attached claims.

[0027] In order to facilitate understanding of the present application, the background technology of the present application is briefly introduced below.

[0028] The Global Navigation Satellite System (GNSS) specifically refers to the Russian satellite navigation system, which uses the Frequency Division Multiple Access / Address (FDMA) technology, which results in the existence of inter-frequency bias (IFB) in the observed signal at both the satellite and receiver ends. The inter-frequency bias can be divided into inter-frequency code bias (IFCB) and inter-frequency phase bias (IFPB) according to the type of its observed value.

[0029] Since the receiver channel delays of different GNSS satellites are different, the single difference between satellites cannot eliminate the IFB on the receiver side. The IFPB on the GNSS receiver side is related to the receiver manufacturer, is long-term stable, and is little affected by the environment such as temperature and humidity. It is linearly related to the satellite channel number. The traditional way to eliminate inter-frequency deviation is to use a zero baseline or a short baseline to form a single difference or double difference to calibrate the IFPB. However, when using this method to calibrate the IFPB, since the above method is a parameter algorithm, the correctness of the result is determined by the given parameters. However, there are no specific rules for the selection of parameters, and manual input and adjustment are required. If the correct parameters are selected, the correct results will be output. If the wrong parameters are selected, the wrong results will be output. This results in the IFPB calculated using the existing technology being inaccurate.

[0030] In order to solve the technical problem that the calculation of the inter-frequency phase deviation in the prior art is not accurate enough, the present application provides a method for determining the target inter-frequency phase deviation, and the details can be seen in the following embodiments.

[0031] In one example, the target inter-frequency phase deviation determination method provided in the embodiment of the present application can be applied to a frequency division multiple access satellite system. Figure 1 The target inter-frequency phase deviation determination method provided in the embodiment of the present application may specifically include the following steps:

[0032] S110. Calculate the original observation data of multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes double-difference carrier phase residuals of two satellites among the multiple satellites and a difference between the channel numbers of the two satellites.

[0033] The original observation data may be observation data directly obtained by multiple observation satellites and corresponding base stations.

[0034] After the original observation data of multiple observation satellites are acquired, the original observation data of the multiple observation satellites may be calculated to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum.

[0035] The sum of carrier phase ambiguities may be the sum of carrier phase ambiguities corresponding to the original observation data.

[0036] In one example, each two-dimensional data element in the two-dimensional data set includes double-difference carrier phase residuals of two satellites of the plurality of satellites and a difference between channel numbers of the two satellites.

[0037] Exemplarily, each two-dimensional data element may be represented by (x, y), wherein the x dimension is the difference between the corresponding channel numbers, and the y dimension corresponds to the double-difference carrier phase residual, and its unit is meter.

[0038] S120: Cluster each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category.

[0039] After obtaining the two-dimensional data set, each two-dimensional data element in the two-dimensional data set may be clustered, for example, by using a density-based spatial clustering application with noise (DBSCAN) algorithm to cluster each two-dimensional data element in the two-dimensional data set to obtain at least one cluster category.

[0040] It should be noted that using the DBSCAN algorithm to cluster each two-dimensional data element in a two-dimensional data set is a prior art and will not be described in detail here.

[0041] It should be noted that the above-mentioned example of using the DBSCAN algorithm to cluster each two-dimensional data element in a two-dimensional data set is only one feasible way to cluster each two-dimensional data element in a two-dimensional data set in the present application. Those skilled in the art should know that it does not mean that only the DBSCAN algorithm can be used to cluster each two-dimensional data element in a two-dimensional data set in the present application. Any method that can realize clustering each two-dimensional data element in a two-dimensional data set is protected by the present application.

[0042] S130 , respectively calculating each two-dimensional data element in the two-dimensional data set in each cluster category to obtain a target element representing a feature of each cluster category.

[0043] The target element may be a two-dimensional data element representing a clustering category feature.

[0044] After clustering each two-dimensional data element in the two-dimensional data set to obtain at least one cluster category, each two-dimensional data element in the two-dimensional data set in each cluster category can be calculated to obtain a target element representing the characteristics of each cluster category. How to calculate each two-dimensional data element in the two-dimensional data set in each cluster category to obtain a target element representing the characteristics of each cluster category is described in detail in the following embodiment.

[0045] In one example, each two-dimensional data element in the two-dimensional data set in each cluster category is calculated to obtain a target element representing the characteristics of each cluster category. The specific implementation method may be as follows:

[0046] For each cluster category, the average value of each two-dimensional data element in the two-dimensional data set in the cluster category is calculated, and the average value is used as the target element representing the characteristics of the cluster category.

[0047] For each cluster category, the average value of each two-dimensional data element in the two-dimensional data set in the cluster list may be calculated, and the average value may be used as a target element representing the characteristics of the cluster category.

[0048] It should be noted that, for each cluster category, the average value is used as the target element representing the characteristics of the cluster category. The average value here is only an example, and does not mean that this application can only use the average value of each two-dimensional data element in the cluster category as the target element representing the characteristics of the cluster category. It can also be the standard deviation of each two-dimensional data element in the cluster category as the target element representing the characteristics of the cluster category. There is no limitation here. As long as it can be used as a target element representing the cluster category.

[0049] S140. Based on the target element and the sum of the carrier phase ambiguities, the target inter-frequency phase deviation for the frequency division multiple access satellite system is obtained by solving the optimization equation.

[0050] The target inter-frequency phase deviation may be the obtained accurate inter-frequency phase deviation, that is, the inter-frequency phase deviation obtained by correcting the inter-frequency phase deviation in the prior art.

[0051] After obtaining the target element and the sum of the carrier phase ambiguities, the target inter-frequency phase deviation for the frequency division multiple access satellite system can be obtained by solving the optimization equation.

[0052] The technical solution of the embodiment of the present application is to calculate the original observation data of multiple observation satellites to obtain a two-dimensional data set including the double-difference carrier phase residuals of two satellites among the multiple satellites and the difference between the channel numbers of the two satellites, and a preset carrier phase ambiguity sum corresponding to the original observation data, and then cluster the two-dimensional data set to obtain at least one cluster category, calculate each two-dimensional data element in the two-dimensional data set in each cluster category, and obtain a target element representing the characteristics of each cluster category, and based on the target element and the carrier phase ambiguity sum, obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation. In this way, since the carrier phase ambiguity sum is obtained based on the original observation data of multiple observation satellites, the carrier phase ambiguity sum is used to replace the parameters that need to be manually input before, and the target inter-frequency phase deviation obtained will be more accurate, and there is no need to manually input parameters here, which saves labor costs and improves the efficiency of determining the target inter-frequency phase deviation.

[0053] In one example, the raw observation data may include first raw observation data and second raw observation data, and a difference in channel number between a channel number of the first satellite and a channel number of the second satellite.

[0054] The first original observation data may be observation data of the first satellite and the second satellite respectively obtained by the first base station.

[0055] The second original observation data may be observation data of the first satellite and the second satellite respectively acquired by the second base station.

[0056] The first satellite here may be one of a plurality of observation satellites.

[0057] The second satellite may be another satellite in the plurality of observations, different from the first satellite.

[0058] The first base station (or the second base station) may be a base station associated with the first satellite and the second satellite, that is, the first base station (or the second base station) receives transmission signals of the first satellite and the second satellite.

[0059] In order to introduce in detail the two-dimensional data set corresponding to the original observation data, the present application also provides another implementable method for determining the target frequency phase deviation, which can be specifically referred to as the following steps:

[0060] In one example, the original observation data of multiple observation satellites are calculated to obtain a two-dimensional data set corresponding to the original observation data, which can be specifically implemented by the following steps S1101-S1103:

[0061] S1101. Based on the first original observation data and the second original observation data, and the difference between the channel numbers, construct a double difference observation equation corresponding to the original observation data.

[0062] After obtaining the first original observation data, the second original observation data, and the difference between the channel numbers, a double difference observation equation corresponding to the original observation data may be constructed based on the first original observation data, the second original observation data, and the difference between the channel numbers.

[0063] It should be noted that constructing a double difference observation equation corresponding to the original observation data based on the first original observation data and the second original observation data, as well as the difference between the channel numbers, belongs to the prior art. Those skilled in the art will construct a double difference observation equation corresponding to the original observation data based on the first original observation data and the second original observation data, as well as the difference between the channel numbers, which will not be explained in detail here.

[0064] S1102. Separate the difference between the double-difference carrier phase residual and the channel number from the double-difference observation equation, wherein the double-difference carrier phase residual includes an inter-frequency phase deviation.

[0065] Based on the first original observation data and the second original observation data, and the difference between the channel numbers, the double difference observation equation corresponding to the original observation data is constructed, which is an equation about the difference between the double difference carrier phase residual and the channel number. After the double difference observation equation is obtained, the difference between the double difference carrier phase residual and the channel number can be separated from the double difference observation equation.

[0066] In an example, the double-difference carrier phase residual is a residual about the inter-frequency phase deviation, that is, the double-difference carrier phase residual has a parameter, which is the inter-frequency phase deviation.

[0067] S1103: Determine a two-dimensional data set corresponding to the original observation data based on the difference between the double-difference carrier phase residual and the channel number, and the corresponding relationship between the difference between the double-difference carrier phase residual and the channel number.

[0068] After the double-difference carrier phase residual and the difference of the channel number are separated, the difference of the double-difference carrier phase residual and the channel number are sorted according to the corresponding relationship between the double-difference carrier phase residual and the difference of the channel number, and a two-dimensional data set corresponding to the original observation data can be determined.

[0069] There are a plurality of two-dimensional data elements in the two-dimensional data set, each of which includes double-difference carrier phase residuals of two satellites from the plurality of satellites and a difference between channel numbers of the two satellites.

[0070] The technical solution of the embodiment of the present application constructs a double-difference observation equation corresponding to the original observation data through the first original observation data and the second original observation data, and the difference between the channel numbers, separates the difference between the double-difference carrier phase residual and the channel number from the double-difference observation equation, and based on the difference between the double-difference carrier phase residual and the channel number, and the correspondence between the double-difference carrier phase residual and the channel number, the two-dimensional data set corresponding to the original observation data can be determined. In this way, the double-difference observation equation corresponding to the original observation data is used to determine the two-dimensional data set corresponding to the original observation data, so that the two-dimensional data set corresponding to the original observation data can be accurately determined.

[0071] The above embodiment describes that by solving the optimization equation, the target inter-frequency phase deviation for the frequency division multiple access satellite system can be obtained. Therefore, before solving the optimization equation, the optimization method must be constructed first. Before constructing the optimization equation, the parameters required to construct the optimization equation must be known.

[0072] In order to introduce in detail the parameters required for constructing the optimization equation, the present application also provides another implementation method of the target frequency phase deviation determination method, specifically, the parameters required for constructing the optimization equation are introduced in detail. For details, please refer to the following embodiments.

[0073] In one example, before obtaining the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation based on the target element and the sum of the carrier phase ambiguities, the method may further include the following steps:

[0074] S131. For any observation satellite, obtain the channel number of the observation satellite.

[0075] For any observation satellite, the channel number of the observation satellite can be obtained.

[0076] In one example, a specific method for obtaining the channel number of the observation satellite may be: obtaining the channel number of the observation satellite by querying the channel numbers of each observation satellite pre-stored in the satellite database. Alternatively, the channel number of the observation satellite may be obtained from the satellite signal by obtaining the satellite signal transmitted by the observation satellite. The specific method for obtaining the channel number of the observation satellite is not limited here, and any method for obtaining the channel number of the observation satellite is protected by this application.

[0077] S132. Based on the channel number and the correspondence between the channel number and the wavelength of each frequency band, obtain the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite.

[0078] For a certain satellite and a base station corresponding to the satellite, the first frequency band may be a frequency band of a transmission signal between the base station and the satellite, and the second frequency band may be another frequency band different from the first frequency band in the transmission signal between the base station and the satellite.

[0079] After the channel number of the observation satellite is obtained, the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite can be obtained based on the channel number and the correspondence between the channel number and the wavelength of each frequency band.

[0080] In one example, for a certain observation satellite, the observation satellite has its unique channel number. The transmission information of the satellite and the base station corresponding to the satellite has two frequency bands, for example, the L1 frequency band (i.e., the first frequency band) and the L2 frequency band (i.e., the second frequency band). Then the corresponding relationship between the channel number of the observation satellite and the wavelength of each frequency band can be as follows:

[0081]

[0082] Where Fn is the channel number of the observation satellite; c represents the speed of light. L1 (Fn) is L 1 The wavelength of the frequency band, λ L2 (Fn) is L 2 The wavelength of the frequency band.

[0083] By using the above formula (1), the wavelength of the L1 frequency band or the wavelength of the L2 frequency band can be calculated.

[0084] The technical solution of the embodiment of the present application is that, for any observation satellite, by acquiring the channel number of the observation satellite, based on the channel number and the correspondence between the channel number and the wavelength of each frequency band, the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite can be obtained, so that subsequently, based on the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite, an optimization equation can be constructed to solve the optimization equation to obtain the target inter-frequency phase deviation.

[0085] The above embodiment introduces the parameters required for constructing the optimization equation. Specifically, the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite is calculated. After the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite is calculated, an optimization equation can be constructed based on the wavelength of the first frequency band or the wavelength of the second frequency band. By solving the optimization equation, the target inter-frequency phase deviation can be obtained.

[0086] In order to introduce in detail the process of constructing an optimization equation based on the wavelength of the first frequency band or the wavelength of the second frequency band, solving the optimization equation, and obtaining the target inter-frequency phase deviation, the embodiment of the present application also provides another implementable method for determining the target inter-frequency phase deviation, and please refer to the following embodiment for details.

[0087] In one example, after calculating the wavelength of the first frequency band or the wavelength of the second frequency band of the observed satellite, based on the target element and the sum of the carrier phase ambiguities, the target inter-frequency phase deviation for the frequency division multiple access satellite system is obtained by solving the optimization equation, which may specifically include the following steps:

[0088] S1401. Construct an optimization equation based on the target element, the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band.

[0089] After obtaining the wavelength of the first frequency band or the wavelength of the second frequency band, an optimization equation may be constructed based on the target element, the sum of carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band.

[0090] In one example, the following optimization equation may be constructed based on the target element, the sum of carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band:

[0091] arg min f,N ||y i -fx i +kN i || 2 (2)

[0092] In formula (2), arg min is the minimum solution to the optimization equation; k is the wavelength of the first frequency band or the wavelength of the second frequency band, y i is the double-difference carrier phase residual of the two satellites in the target element in each cluster category after clustering, x i is the difference between the channel numbers of the two satellites in the target elements in each cluster category after clustering; f is the target inter-frequency phase deviation; N i is the carrier phase ambiguity in the double-difference carrier phase residual in each cluster category, and the sum of the carrier phase ambiguities in each cluster category is the sum of the carrier phase ambiguities.

[0093] In the following, what needs to be solved is Ni , and f.

[0094] S1402: Solve the optimization equation to obtain a target inter-frequency phase deviation for a frequency division multiple access satellite system.

[0095] After constructing the optimization equation, the optimization equation is solved to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0096] The technical solution of the embodiment of the present application constructs an optimization equation based on the target element, the sum of carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band, and solves the optimization equation to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system. In this way, since the sum of carrier phase ambiguities is obtained based on the original observation data of multiple observation satellites, the sum of carrier phase ambiguities is used to replace the parameters that need to be manually input before. An optimization equation can be constructed based on the sum of carrier phase ambiguities, and the optimization equation is solved to obtain the target inter-frequency phase deviation. The target inter-frequency phase deviation obtained in this way will be more accurate, and there is no need to manually input parameters here, which saves labor costs and improves the efficiency of determining the target inter-frequency phase deviation.

[0097] In the above embodiment, an optimization equation is constructed. After formula (2) is obtained, in order to solve the optimization equation, it can be seen that the optimization equation is written in the form of mixed integer least squares, which is convenient for solving the optimization equation.

[0098] In one example, in order to facilitate solving the optimization equation, the following operation may be performed on formula (2) to convert it into a mixed integer least squares form.

[0099] Specifically, formula (2) can be rewritten into a matrix form, that is, the following formula (3) is obtained:

[0100]

[0101] Where X = diag([x 1 ,x 2 ,…,x N ]),K=diag([K,…,K]),f=[f,…,f] T .

[0102] Among them, [X, -K] is full rank. However, it should be noted that the number of columns of this matrix is ​​greater than the number of rows. This does not meet the conditions required for using the least squares method. Therefore, the following method is needed here to overcome this problem.

[0103] First, note that Xf = xf, where x is the vector of diagonal elements of X. Thus, the number of columns in the new matrix [x, -K] is only one greater than the number of rows, so we need to add a row constraint, or equivalently reduce one column, to satisfy the conditions for using the least squares method.

[0104] The following describes how to add a row constraint and reduce a column:

[0105] (1) How to add a row constraint

[0106] By observing the data in the two-dimensional data set, we can see that The value of will not exceed a certain interval, such as Here, assuming that the sum of the carrier phase ambiguities in each cluster category (i.e., the sum of the carrier phase ambiguities) is S, then the original equation (i.e., formula (3)) is modified as follows:

[0107]

[0108] Among them, I=[1,…,1].

[0109] It should be noted that the above N i is the carrier phase ambiguity in each cluster category. In the embodiment of the present application, it is necessary to calculate the N i According to the value of N i The value of is used to obtain the target frequency phase deviation.

[0110] (2) Methods for reducing one column of constraints

[0111] Observe that when the sum of the carrier phase ambiguities in each cluster category is determined to be S, any N i can be expressed as the relationship between other N values ​​and S. Specifically, N j =S-∑ i≠j N i .

[0112] At this point, the optimization equations and constraints have been transformed into a canonical mixed integer least squares form.

[0113] The canonical form of mixed integer least squares is:

[0114]

[0115] where [A, B] is a full rank matrix with the number of columns less than or equal to the number of rows. Now, y, A, B in (4) correspond to y′, X′, K′ in (3). a and b represent the carrier phase ambiguity in the double-difference carrier phase residual to be solved for the IFPB and each clustering category, respectively.

[0116] The technical solution of the embodiment of the present application converts the optimization equation into a mixed integer least squares form so that the optimization equation can be solved later.

[0117] The above embodiment introduces how to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation. In order to introduce in detail how to solve the optimization equation to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system, the embodiment of the present application also provides another implementable method for determining the target inter-frequency phase deviation. For details, please refer to the following embodiment.

[0118] In one example, after converting the optimization equation into a mixed integer least squares form, the converted optimization equation may be solved to obtain a target inter-frequency phase deviation for a frequency division multiple access satellite system, which may be specifically achieved in the following manner:

[0119] Based on a preset range of the sum of carrier phase ambiguities, an optimization equation is solved to obtain an inter-frequency phase deviation that makes the solution of the optimization equation meet preset conditions, and the inter-frequency phase deviation is determined as a target inter-frequency phase deviation for a frequency division multiple access satellite system.

[0120] The preset range of the sum of carrier phase ambiguities may be the range of the sum of carrier phase ambiguities in each clustering category obtained in advance. That is, the above-mentioned S has a range, for example, This range is the preset range of the sum of carrier phase ambiguities.

[0121] It should be noted that the preset range is estimated based on the properties of the inter-frequency phase deviation. The specific estimation method is a prior art and will not be described in detail here.

[0122] The preset condition may be a condition that the solution of the optimization equation must satisfy, for example, the solution of the optimization equation may be greater than a certain threshold, or the solution of the optimization equation may be less than a certain threshold.

[0123] After obtaining the preset range of the sum of carrier phase ambiguities, the optimization equation can be solved based on the preset range of the sum of carrier phase ambiguities to obtain the inter-frequency phase deviation that makes the solution of the optimization equation meet the preset conditions, and the inter-frequency phase deviation is determined as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0124] In one example, based on a preset range of the sum of carrier phase ambiguities, an optimization equation is solved to obtain an inter-frequency phase deviation under which a solution of the optimization equation satisfies a preset condition, and the inter-frequency phase deviation is determined as a target inter-frequency phase deviation for a frequency division multiple access satellite system. A specific implementation method may be:

[0125] Traverse all values ​​within the preset range of the sum of carrier phase ambiguities, and substitute all values ​​within the preset range into formula (4) in turn to obtain the carrier phase ambiguity in the double-difference carrier phase residual corresponding to the target element when the solution of formula (4) is minimized, that is, the carrier phase ambiguity (i.e., b) in each clustering category when the solution of formula (4) is minimized. According to the obtained N i , substituting into formula (4), the corresponding inter-frequency phase deviation (i.e., a) can be obtained, and the inter-frequency phase deviation is determined as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0126] The technical solution of the embodiment of the present application solves the optimization equation and determines the inter-frequency phase deviation corresponding to the minimum solution of the optimization equation as the target inter-frequency phase deviation. Since the optimization equation is obtained based on the sum of carrier phase ambiguities, which is related to the original observation data, the sum of carrier phase ambiguities is used to replace the parameters that previously required manual input, and the obtained target inter-frequency phase deviation will be more accurate. There is no need to manually input b in formula (4), which saves labor costs and improves the efficiency of determining the target inter-frequency phase deviation.

[0127] Based on the target inter-frequency phase deviation determination method provided in the above-mentioned embodiment, the present application also provides a specific implementation of the target inter-frequency phase deviation determination device. The target inter-frequency phase deviation determination device provided in the present application can be applied to a frequency division multiple access satellite system. The specific implementation of the device can be found in the following embodiments.

[0128] See first Figure 2 The target inter-frequency phase deviation determination device provided in the present application may specifically include the following modules:

[0129] A two-dimensional data set determination module 210 is used to calculate the original observation data of the acquired multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes a difference between double-difference carrier phase residuals of two satellites of the multiple satellites and a channel number of the two satellites;

[0130] A clustering module 220, configured to cluster each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category;

[0131] A target element determination module 230 is used to calculate each two-dimensional data element in the two-dimensional data set in each cluster category to obtain a target element representing a feature of each cluster category;

[0132] The target inter-frequency phase deviation determination module 240 is used to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation based on the target element and the sum of the carrier phase ambiguities.

[0133] The technical solution of the embodiment of the present application is to calculate the original observation data of multiple observation satellites obtained by the two-dimensional data set determination module to obtain a two-dimensional data set including the double difference carrier phase residual of two satellites in the multiple satellites and the difference of the channel numbers of the two satellites, and the preset carrier phase ambiguity sum corresponding to the original observation data, and then use the clustering module to cluster the two-dimensional data set to obtain at least one cluster category, and then the target element determination module calculates each two-dimensional data element in the two-dimensional data set in each cluster category respectively to obtain the target element representing the characteristics of each cluster category, and finally the target inter-frequency phase deviation determination module is used to solve the target inter-frequency phase deviation for the frequency division multiple access satellite system based on the target element and the sum of carrier phase ambiguities through the optimization equation. In this way, since the sum of carrier phase ambiguities is obtained based on the original observation data of multiple observation satellites, the sum of carrier phase ambiguities is used to replace the parameters that need to be manually input before, and the target inter-frequency phase deviation obtained will be more accurate, and no manual input of parameters is required here, which saves labor costs and improves the efficiency of determining the target inter-frequency phase deviation.

[0134] As an implementation of the present application, in order to introduce in detail how to obtain the target element representing the characteristics of each cluster category, the target element determination module 230 may include the following units:

[0135] The target element determination unit is used to calculate, for each cluster category, an average value of each two-dimensional data element in the two-dimensional data set in the cluster category, and use the average value as a target element representing a feature of the cluster category.

[0136] As an implementation of the present application, in order to obtain the optimization equation, it is necessary to determine the parameters for constructing the optimization equation. In order to determine the parameters for constructing the optimization equation, the device may further include:

[0137] A channel number acquisition module, used for acquiring the channel number of any observation satellite;

[0138] A wavelength determination module, configured to obtain the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite based on the channel number and the corresponding relationship between the channel number and the wavelength of each frequency band;

[0139] Correspondingly, the above-mentioned target inter-frequency phase deviation determination module 240 may include the following units:

[0140] An optimization equation construction unit, configured to construct the optimization equation based on the target element, the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band;

[0141] The target inter-frequency phase deviation determination unit is used to solve the optimization equation to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0142] As an implementation of the present application, in order to introduce in detail the process of constructing the optimization equation, the above-mentioned optimization equation construction unit can be specifically used for:

[0143] Based on the target element, the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the second frequency band, the following optimization equation is constructed:

[0144] arg min f,N ||y i -fx i +kN i || 2

[0145] Among them, arg min is to minimize the solution of the optimization equation; k is the wavelength of the first frequency band or the wavelength of the second frequency band, y i is the double-difference carrier phase residual of the two satellites in the target element in each cluster category after clustering, x i is the difference between the channel numbers of the two satellites in the target elements in each cluster category after clustering; f is the target inter-frequency phase deviation; N i is the carrier phase ambiguity in the double-difference carrier phase residual in each cluster category, and the sum of the carrier phase ambiguities in each cluster category is the sum of the carrier phase ambiguities.

[0146] As an implementation of the present application, in order to introduce in detail the process of solving the optimization equation to obtain the target inter-frequency phase deviation for the frequency division multiple access satellite system, the above-mentioned target inter-frequency phase deviation determination unit may also include the following subunits:

[0147] The target inter-frequency phase deviation determination subunit is used to solve the optimization equation based on a preset range of the sum of the carrier phase ambiguities, obtain the inter-frequency phase deviation that makes the solution of the optimization equation meet preset conditions, and determine the inter-frequency phase deviation as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0148] As an implementation of the present application, the above-mentioned target inter-frequency phase deviation determination subunit can be specifically used for:

[0149] The values ​​of the sum of the carrier phase ambiguities within a preset range are sequentially substituted into the optimization equation, and the optimization equation is solved to obtain the inter-frequency phase deviation corresponding to the minimum solution of the optimization equation, which is determined as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

[0150] As an implementation of the present application, in order to introduce the process of determining the target inter-frequency phase deviation in more detail, the above-mentioned target inter-frequency phase deviation determination subunit can be further specifically used for:

[0151] Substituting the values ​​of the sum of the carrier phase ambiguities within a preset range into the optimization equation in sequence, solving the optimization equation, and obtaining the carrier phase ambiguity in the double-difference carrier phase residual corresponding to the target element when the solution of the optimization equation is minimized;

[0152] The target inter-frequency phase deviation for the frequency division multiple access satellite system is calculated based on the carrier phase ambiguity.

[0153] The target inter-frequency phase deviation determination device provided in the embodiment of the present application can be used to execute the target inter-frequency phase deviation determination method provided in the above-mentioned method embodiments. Its implementation principle and technical effect are similar, and for the sake of brief introduction, they will not be repeated here.

[0154] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0155] Figure 3 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device may include a processor 301 and a memory 302 storing computer programs or instructions.

[0156] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0157] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory. In a specific embodiment, the memory 302 includes a read-only memory (ROM). In appropriate cases, 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.

[0158] The processor 301 implements any one of the target inter-frequency phase deviation determination methods in the above embodiments by reading and executing computer program instructions stored in the memory 302 .

[0159] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0160] The communication interface 303 is mainly used to implement the communication between the modules, devices, units and / or devices in the embodiment of the present invention.

[0161] Bus 310 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0162] The electronic device can execute the video bit rate control method in the embodiment of the present invention, thereby achieving Figure 1 A method for determining the target frequency phase deviation is described.

[0163] In addition, in combination with the target inter-frequency phase deviation determination method in the above embodiment, the embodiment of the present invention can provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by the processor, any one of the target inter-frequency phase deviation determination methods in the above embodiment is implemented.

[0164] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0165] 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 invention 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. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0166] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0167] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A method for determining a target frequency phase deviation, It is characterized in that The method is applied to a frequency division multiple access satellite system, and the method comprises: Calculating the acquired original observation data of the multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes double-difference carrier phase residuals of two satellites among the multiple observation satellites and a difference between the channel numbers of the two satellites; Clustering each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category; Calculating each two-dimensional data element in the two-dimensional data set in each cluster category respectively to obtain a target element representing a feature of each cluster category; Based on the target element and the sum of the carrier phase ambiguities, the target inter-frequency phase deviation for the frequency division multiple access satellite system is obtained by solving an optimization equation, the optimization equation is determined based on the target element and the carrier phase ambiguities in the double-difference carrier phase residuals in each cluster category, and the sum of the carrier phase ambiguities in the double-difference carrier phase residuals in each cluster category is the sum of the carrier phase ambiguities.

2. The method according to claim 1, It is characterized in that The step of calculating each two-dimensional data element in the two-dimensional data set in each cluster category to obtain a target element representing a feature of each cluster category includes: For each cluster category, the average value of each two-dimensional data element in the two-dimensional data set in the cluster category is calculated, and the average value is used as a target element representing the characteristics of the cluster category.

3. The method according to claim 1, It is characterized in that Before obtaining the target inter-frequency phase deviation for the frequency division multiple access satellite system by solving the optimization equation based on the target element and the sum of the carrier phase ambiguities, the method further includes: For any observation satellite, obtain the channel number of the observation satellite; Based on the channel number and the correspondence between the channel number and the wavelength of each frequency band, obtaining the wavelength of the first frequency band or the wavelength of the second frequency band of the observation satellite; Correspondingly, the target inter-frequency phase deviation for the frequency division multiple access satellite system is obtained by solving the optimization equation based on the target element and the sum of the carrier phase ambiguities, including: constructing the optimization equation based on the target element, the carrier phase ambiguity in the double-difference carrier phase residual in each cluster category constituting the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band; The optimization equation is solved to obtain a target inter-frequency phase deviation for a frequency division multiple access satellite system.

4. The method according to claim 3, It is characterized in that The constructing the optimization equation based on the target element, the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the wavelength of the second frequency band includes: Based on the target element, the carrier phase ambiguity in the double-difference carrier phase residual in each cluster category constituting the sum of the carrier phase ambiguities, and the wavelength of the first frequency band or the second frequency band, the following optimization equation is constructed: arg min f,N ||y i -fx i +kN i || 2 Among them, arg min is to minimize the solution of the optimization equation; k is the wavelength of the first frequency band or the wavelength of the second frequency band, y i is the double-difference carrier phase residual of the two satellites in the target element in each cluster category after clustering, x i is the difference between the channel numbers of the two satellites in the target elements in each cluster category after clustering; f is the target inter-frequency phase deviation; N i is the carrier phase ambiguity in the double-difference carrier phase residual in each cluster category, and the sum of the carrier phase ambiguities in each cluster category is the sum of the carrier phase ambiguities.

5. The method according to claim 3, It is characterized in that The step of solving the optimization equation to obtain a target inter-frequency phase deviation for a frequency division multiple access satellite system includes: Based on the preset range of the sum of the carrier phase ambiguities, the optimization equation is solved to obtain the inter-frequency phase deviation that makes the solution of the optimization equation meet the preset conditions, and the inter-frequency phase deviation is determined as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

6. The method according to claim 5, It is characterized in that The step of solving the optimization equation based on a preset range of the sum of carrier phase ambiguities to obtain an inter-frequency phase deviation under a preset condition, and determining the inter-frequency phase deviation as a target inter-frequency phase deviation for a frequency division multiple access satellite system includes: The values ​​of the sum of the carrier phase ambiguities within a preset range are sequentially substituted into the optimization equation, and the optimization equation is solved to obtain the inter-frequency phase deviation corresponding to the minimum solution of the optimization equation, which is determined as the target inter-frequency phase deviation for the frequency division multiple access satellite system.

7. The method according to claim 6, It is characterized in that Substituting the values ​​of the sum of the carrier phase ambiguities within a preset range into the optimization equation in sequence, solving the optimization equation, obtaining the inter-frequency phase deviation corresponding to the minimum solution of the optimization equation, and determining it as the target inter-frequency phase deviation for the frequency division multiple access satellite system includes: Substituting the values ​​of the sum of the carrier phase ambiguities within a preset range into the optimization equation in sequence, solving the optimization equation, and obtaining the carrier phase ambiguity in the double-difference carrier phase residual corresponding to the target element when the solution of the optimization equation is minimized; The target inter-frequency phase deviation for the frequency division multiple access satellite system is calculated based on the carrier phase ambiguity.

8. A target frequency phase deviation determination device, It is characterized in that The device is applied to a frequency division multiple access satellite system, and comprises: A two-dimensional data set determination module, used to calculate the original observation data of the acquired multiple observation satellites to obtain a two-dimensional data set corresponding to the original observation data and a preset carrier phase ambiguity sum, wherein each two-dimensional data element in the two-dimensional data set includes a difference between double-difference carrier phase residuals of two satellites among the multiple observation satellites and a channel number of the two satellites; A clustering module, used for clustering each two-dimensional data element in the two-dimensional data set to obtain at least one clustering category; A target element determination module, used to calculate each two-dimensional data element in the two-dimensional data set in each cluster category respectively to obtain a target element representing the characteristics of each cluster category; A target inter-frequency phase deviation determination module is used to obtain a target inter-frequency phase deviation for a frequency division multiple access satellite system by solving an optimization equation based on the target element and the sum of the carrier phase ambiguities, wherein the optimization equation is determined based on the target element and the carrier phase ambiguities in the double-difference carrier phase residuals in each cluster category, and the sum of the carrier phase ambiguities in the double-difference carrier phase residuals in each cluster category is the sum of the carrier phase ambiguities.

9. An electronic device, It is characterized in that It includes 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 target frequency phase deviation determination method as described in any one of claims 1 to 7.

10. A readable storage medium, It is characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the target frequency phase deviation determination method as described in any one of claims 1-7 are implemented.

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