Satellite IFCB estimation method, device, equipment, medium and clock error generation method

Abstract

The present invention proposes a satellite IFCB estimation method, apparatus, device, medium, and clock error generation method, belonging to the field of high-precision positioning technology. The method comprises acquiring satellite station data; performing cycle slip detection at each station to screen available stations from all stations; constructing a carrier phase GFIF combination for each available station; subtracting the carrier phase GFIF combinations of the available stations in adjacent epochs to obtain multiple inter-epoch differences for the available stations; calculating an average inter-epoch difference for the inter-epoch differences of the multiple available stations in each epoch interval; and accumulating the multiple average inter-epoch differences to obtain an epoch IFCB estimate. The present invention achieves high-precision positioning, with specific positioning accuracy reaching the millimeter level. It also eliminates the need to estimate a large number of ambiguity parameters, improving computational efficiency and significantly reducing computational time, making it well suited for commercial operations.

Description

Technical Field

[0001] The present application relates to the field of high-precision positioning technology, and specifically to a satellite IFCB (InterFrequency Code Bias) estimation method, device, equipment, medium, and clock error product generation method. Background Art

[0002] As a new generation of high-precision satellite positioning technology, PPP-RTK (Precise Point Positioning - Real-Time Kinematic) is the most widely used and representative technology in high-precision satellite navigation and positioning. It effectively solves two core difficulties of PPP technology: the difficulty of undifferenced ambiguity fixation and rapid initialization, and has promoted the large-scale commercial use of satellite positioning technology. With the development of the BeiDou Navigation Satellite System (BDS) and Galileo (Galileo satellite navigation system), and the modernization of GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System), an increasing number of satellites support triple-frequency or even multi-frequency signals, bringing more possibilities for enhancing PPP-RTK positioning performance.

[0003] With the advent of the multi-frequency, multi-constellation GNSS era and the deepening application of satellite positioning technology in mass navigation, a large number of GNSS chips supporting varying frequencies have emerged on the market, posing significant challenges for PPP-RTK service providers. Currently, because satellite clock error products are generated based on specific frequency combinations, optimal service is only available for users who select specific GNSS chips, limiting their flexibility in choosing GNSS chips. While adding one or more sets of satellite clock error products with inconsistent frequency combinations can meet the needs of more users, it also increases the complexity of product generation, requiring the estimation of numerous ambiguity parameters, which is time-consuming and computationally inefficient. This leads to higher R&D and maintenance costs, hindering commercial applications. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the present invention provides a satellite IFCB estimation method with the following positive effects: it has a high-precision positioning effect, and the specific positioning accuracy can reach the millimeter level. It does not need to estimate a large number of ambiguity parameters, which improves the calculation efficiency and greatly shortens the time consumption, and can be well applied to commercial operations.

[0005] The present invention provides a satellite IFCB estimation method, comprising obtaining satellite station data;

[0006] Perform cycle slip detection at each measuring station and select available measuring stations from all measuring stations;

[0007] constructing a carrier phase GFIF combination for each of the available measuring stations;

[0008] Differences are made on the carrier phase GFIF combinations of the available stations at adjacent epochs to obtain epoch differences between multiple available stations;

[0009] For the inter-epoch differences of multiple available stations in each epoch interval, the average inter-epoch difference is calculated;

[0010] The average inter-epoch differences are accumulated to obtain the epoch IFCB estimate.

[0011] In one embodiment of the present invention, performing cycle slip detection on each measuring station and screening available measuring stations from all measuring stations includes:

[0012] Selecting from all the stations the stations that can observe the satellite;

[0013] The measuring stations without cycle slips are selected from the measuring stations and regarded as available measuring stations.

[0014] In one embodiment of the present invention, obtaining the average inter-epoch difference for each epoch interval includes:

[0015] For the inter-epoch differences of all available stations, the standard deviation is calculated according to the epoch interval and the standard deviation limit is determined;

[0016] At each epoch interval, all inter-epoch differences of available stations are compared with the standard deviation limits one by one;

[0017] If there is an inter-epoch difference that is greater than the standard deviation limit, the inter-epoch difference will be deleted, and the standard deviation of the remaining inter-epoch differences will be calculated again and iterative calculation will be performed;

[0018] If there is no inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is recorded as the valid inter-epoch difference, and the average of the valid inter-epoch differences within the epoch interval is taken as the average inter-epoch difference.

[0019] In one embodiment of the present invention, the step of calculating the standard deviation of the inter-epoch differences of all available stations according to the epoch intervals and determining the standard deviation limit includes:

[0020] Take 3 times the standard deviation as the standard deviation limit.

[0021] In one embodiment of the present invention, accumulating the plurality of averaged inter-epoch differences to obtain an epoch IFCB estimate includes:

[0022] Taking the first epoch of the satellite as the reference epoch and setting the value of the inter-epoch difference of the reference epoch to 0;

[0023] The remaining inter-epoch difference values are accumulated, and the accumulated result is the epoch IFCB estimate.

[0024] The present invention also discloses a satellite clock error generation method, which obtains the satellite clock error estimated by the base / traditional frequency ionosphere-free combination, the base / traditional frequency coefficient, the base / target frequency coefficient, the code deviation product between the base / traditional frequency, and the code deviation product between the base / target frequency;

[0025] Obtaining the IFCB estimate for the epoch obtained by the above estimation method;

[0026] Calculate and obtain the satellite clock error of the base / target frequency combination.

[0027] In one embodiment of the present invention, the formula for calculating and obtaining the satellite clock error of the base / target frequency is:

[0028] cdt IF，15 =cdt IF，12 -α 12,2 ×DCB(P1,P2)+α 15,2 ×DCB(P1,P5)+δ(t);

[0029] Among them, cdt IF，15 is the satellite clock error of the base / target combination, cdt IF，12 is the satellite clock error estimated for the base / conventional frequency ionospheric-free combination, α 12,2 is the basic / traditional frequency coefficient, DCB(P1, P2) is the code deviation between basic / traditional, α 15,2 is the base / target frequency coefficient, DCB(P1, P5) is the code deviation between the base / target, and δ(t) is the IFCB estimate of the epoch.

[0030] The present invention also discloses a satellite IFCB estimation device, comprising:

[0031] An acquisition unit, used for acquiring station data;

[0032] The detection unit performs cycle slip detection at each measuring station and selects available measuring stations from all measuring stations;

[0033] A construction unit, constructing a carrier phase GFIF combination for each measuring station based on the available measuring station data;

[0034] A calculation unit is configured to perform a difference calculation on the carrier phase GFIF combination of the available stations in adjacent epochs in the same epoch interval to obtain epoch differences between multiple available stations;

[0035] The averaging unit calculates the average inter-epoch difference for multiple available station inter-epoch differences in each epoch interval.

[0036] The accumulation unit accumulates the inter-epoch differential IFCB estimates in all epoch intervals to obtain the epoch IFCB estimates.

[0037] The present invention also discloses an electronic device, comprising:

[0038] one or more processing devices;

[0039] a storage device configured to store one or more programs;

[0040] When the one or more programs are executed by one or more processing devices, the one or more processing devices implement the above-mentioned estimation method or satellite clock error generation method.

[0041] The present invention also discloses a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned estimation method or satellite clock error generation method.

[0042] This method uses carrier phase differentials and eliminates inter-epoch differences exceeding 3-4 standard deviations to obtain epoch IFCB estimates. This method suppresses the influence of gross errors from stations or satellites, improving measurement accuracy, stability, and reliability. It also reduces the amount of computation required and eliminates the need to estimate a large number of ambiguity parameters, improving computational efficiency and significantly shortening computational time. Furthermore, based on satellite clock errors from traditional frequency combinations and the estimated real-time IFCB, it can generate satellite clock errors for multiple frequency combinations, making it well-suited for commercial operations.

[0043] 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

[0044] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0045] Figure 1is a flow chart of a satellite IFCB estimation method shown in an exemplary embodiment of the present application;

[0046] Figure 2 An exemplary embodiment of the present application is shown Figure 1 Flowchart of step S50;

[0047] Figure 3 This is a flowchart of a method for generating satellite clock errors as shown in an exemplary embodiment of the present application;

[0048] Figure 4 FIG. 1 is a structural diagram of a satellite IFCB estimation device shown as an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0050] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0051] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0052] Example 1

[0053] Reference Figure 1-Figure 2 The embodiment of the present invention discloses a method for estimating satellite IFCB (Inter Frequency Code Bias) including:

[0054] S10, obtaining satellite station data;

[0055] The data is observed through a global ground tracking network composed of measurement stations. The specific content of the data is GNSS data.

[0056] S20, performing cycle slip detection at each measuring station, and screening available measuring stations from all measuring stations;

[0057] Stations that have not experienced cycle slips are selected from the measurement stations as available stations. A cycle slip refers to a jump or interruption in the whole cycle count caused by loss of satellite signal lock in carrier phase measurements using global navigation satellite system technology. Selecting stations that have not experienced cycle slips and excluding stations that have experienced cycle slips ensures sufficient accuracy of the data obtained from the stations, thereby ensuring the accuracy of subsequent calculations and results.

[0058] Filtering out the stations that can observe satellites from all the stations can eliminate the stations that cannot observe satellites and reduce the amount of computation.

[0059] S30, constructing a carrier phase GFIF combination GFIF for each of the available measurement stations r ; where r represents the measuring station, and r = 1, 2, ... n.

[0060] Typically, a satellite positioning system includes multiple frequencies. For example, GPS includes three frequencies, which can be set as the base frequency f1, the traditional frequency f2, and the target frequency f5. Assuming that there are n available stations in each epoch interval, the carrier phase GFIF (Geometry-Free and Ionospheric-Free) combination GFIF of each available station is constructed. r :

[0061] GFIF r =(α 12,1 ×Φ 1r +α 12,2 ×Φ 2r )-(α 15,1 ×Φ 1r +α 15,2 ×Φ 5r );

[0062] in:

[0063] GFIF r represents the carrier phase GFIF combination of the rth station of the satellite; where r = 1, 2, ..., n;

[0064] α 12,1 Indicates the fundamental frequency coefficient in the fundamental / traditional frequency combination:

[0065] α 12,2 Represents the traditional frequency coefficient in the basic / traditional frequency combination:

[0066] α15,1 Represents the fundamental frequency coefficient in the fundamental / target frequency combination:

[0067] α 15,2 Represents the target frequency coefficient in the base / target frequency combination:

[0068] Φ 1r represents the carrier phase observation value corrected for phase wrapping and phase center variation at the base frequency at the rth station, Φ 2r is the carrier phase observation value corrected for phase wrapping and phase center variation at the traditional frequency at the rth station, Φ 5r The carrier phase observations at the target frequency are corrected for phase wrapping and phase center shift for the rth station.

[0069] S40, performing a difference on the carrier phase GFIF combination of the available measuring stations at adjacent epochs to obtain inter-epoch differences of a plurality of available measuring stations;

[0070] The IFCB epoch difference at the rth station is: Δδ r (t, t-1) = GFIF r (t)-GFIF r (t-1).

[0071] The carrier phase GFIF combination is also related to the linear combination of the IFCB, the integer phase ambiguity, and the stable phase hardware delays at the receiver and transmitter:

[0072] GFIF r =δ r +N r +br r +bc r ;

[0073] in,

[0074] δ r The IFCB introduced for the target frequency of the rth station;

[0075] N r represents the integer phase ambiguity of the r-th station; N r =(α 12,1 ×N r1 +α 12,2 ×N r2 )-(α 15,1 ×N r1 +α 15,2 ×N r5 );N r1 N represents the integer phase ambiguity of the rth station in the fundamental frequency, r2N represents the whole-cycle phase ambiguity of the r-th station in the traditional frequency. r5 represents the integer phase ambiguity of the r-th station in the target frequency.

[0076] br r represents the linear combination of the stable phase hardware delay of the receiver at the rth station; r =(α 12,1 ×br r1 +α 12,2 ×br r2 )-(α 15,1 ×br r1 +α 15,2 ×br r5 );br r1 represents the stable phase hardware delay of the receiver at the base frequency at the rth station, br r2 represents the stable phase hardware delay of the receiver at the rth station in the traditional frequency, br r5 represents the stable phase hardware delay of the receiver at the target frequency at the rth station.

[0077] bc r represents the linear combination of the satellite-side stable phase hardware delay of the rth station; bc r =(α 12,1 ×bc r1 +α 12,2 ×bc r2 )-(α 15,1 ×bc r1 +α 15,2 ×bc r5 );bc r1 represents the satellite-side stable phase hardware delay at the rth station in the fundamental frequency, bc r2 represents the stable phase hardware delay of the satellite end at the rth station in the traditional frequency, bc r5 It represents the stable phase hardware delay of the satellite end at the target frequency at the rth station.

[0078] Combine GFIF according to carrier phase GFIF r , the IFCB for the epoch interval can be calculated:

[0079] δ r (t) = GFIF r (t)-(N r +br r +bc r ); t represents the epoch, t = 1, 2, ..., m, m is the total number of epochs;

[0080] The carrier phase GFIF combination of the available stations at adjacent epochs is subtracted to obtain the inter-epoch differences of multiple available stations:

[0081] Δδ r (t, t-1) = GFIF r (t)-GFIF r (t-1);

[0082] By using inter-epoch differencing, GFIF can be effectively eliminated. r The invariant phase ambiguity N in the combination r and stable phase hardware delay deviation br r and bc r .

[0083] S50, averaging the inter-epoch differences of the available measuring stations at each epoch interval to obtain an average inter-epoch difference of each epoch interval; the average inter-epoch difference value of each epoch interval obtained by averaging is more accurate.

[0084] Specifically include:

[0085] S51, for the inter-epoch differences of all available stations, calculate the standard deviation according to the epoch interval and determine the standard deviation limit;

[0086] In one epoch interval, there are n stations that can observe the satellite. Based on the inter-epoch differences of the n stations obtained in S40, the average value and standard deviation of all inter-epoch differences of all stations are calculated. The inter-epoch differences of the available stations are: Δδ r (t,t-1), where t=1,2,…,m, r=1,2,…,n.

[0087] The average value is:

[0088] The standard deviation is:

[0089] Three times the standard deviation is taken as the standard deviation limit. In practical applications, three or four times the standard deviation is generally taken as the standard deviation limit.

[0090] S52, at each epoch interval, compare all inter-epoch differences of the available stations with the standard deviation limit one by one: whether there is an inter-epoch difference greater than the standard deviation limit;

[0091] S53, if there are inter-epoch differences that are larger than the standard deviation limit, delete the inter-epoch differences that are larger than the standard deviation limit, calculate the standard deviation of the remaining inter-epoch differences again, and perform iterative calculations;

[0092] S54: If there is no inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is recorded as a valid inter-epoch difference, and the average of the valid inter-epoch differences within the epoch interval is taken as the average inter-epoch difference.

[0093] When the epoch interval is t~t-1, if there are k stations whose inter-epoch differences satisfy the standard deviation limit, then the number of valid inter-epoch differences is k; if the value of the inter-epoch difference of the station is less than the standard deviation, the value of the average inter-epoch difference is:

[0094] By obtaining the standard deviation and the mean value and finally determining the average inter-epoch difference, the values with large inter-epoch differences can be quickly eliminated, thereby ensuring that the obtained average inter-epoch difference is closer to the actual value and improving the accuracy of the IFCB results.

[0095] S60, based on the average inter-epoch differences of different epoch intervals, cumulatively calculate and obtain the IFCB estimation value of each epoch.

[0096] Initialize the IFCB estimate of the first epoch t0 to 0. Then, the IFCB estimate of the epoch is obtained by accumulating the average inter-epoch differences:

[0097]

[0098] The present invention adopts the idea of integration to accumulate the differences between multiple average epochs, so that the IFCB estimates of the epochs obtained in this way are closer to the actual values.

[0099] Example 2

[0100] Reference Figure 3 This embodiment also discloses a method for generating satellite clock errors based on epoch IFCB estimation, including:

[0101] S70, obtaining satellite clock errors estimated by the base / traditional frequency ionosphere-free combination, base / traditional frequency coefficients, base / target frequency coefficients, code deviation products between the base / traditional frequencies, and code deviation products between the base / target frequencies;

[0102] S80, obtaining the epoch IFCB estimate obtained by the above estimation method;

[0103] S90: Calculate and obtain the satellite clock error of the base / target frequency combination.

[0104] The formula for calculating and obtaining the satellite clock error of the base / target frequency combination is:

[0105] cdt IF，15 =cdt IF，12 -α 12,2 ×DCB(P1,P2)+α 15,2 ×DCB(P1,P5)+δ(t);

[0106] Among them, cdt IF，15is the satellite clock error of the base / target frequency combination, cdt IF，12 is the satellite clock error estimated for the base / conventional frequency ionospheric-free combination, α 12,2 is the basic / traditional frequency coefficient, DCB(P1, P2) is the code deviation between the basic / traditional frequencies, α 15,2 are the base / target frequency coefficients, DCB(P1, P5) is the code deviation between the base / target frequencies, and δ(t) is the IFCB estimate for the epoch.

[0107] Among them, after the satellite is determined, the satellite clock error estimated by the base / traditional frequency ionosphere-free combination, the base / traditional frequency coefficient, the code deviation between the base / traditional frequencies, the base / target frequency coefficient, and the code deviation between the base / target frequencies are all determined values. In the above estimation method, the IFCB estimation of the epoch is also obtained. Therefore, the satellite clock error of the base / target frequency combination can be accurately obtained.

[0108] Taking the GPS system as an example, the GPS system satellite clock error is generally generated based on the base / traditional frequency ionospheric-free combination, which can be specifically expressed as:

[0109] cdt IF,12 =cdt-(α 12,1 ×d1+α 12,2 ×d2)-(α 12,1 ×bv1+α 12,2 ×bv2);

[0110] In the above formula, c represents the speed of light, dt represents the true satellite clock error, cdt represents the product of the speed of light and the true satellite clock error, d1 represents the stable portion of the pseudorange hardware delay at the base frequency, and d2 represents the stable portion of the pseudorange hardware delay at the legacy frequency. bv1 represents the time-varying portion of the phase hardware delay at the base frequency, and bv2 represents the time-varying portion of the phase hardware delay at the legacy frequency.

[0111] When generating the satellite clock error of the base / target frequency combination, according to the satellite clock error formula of the base / traditional frequency ionosphere-free combination mentioned above, the traditional frequency and the target frequency can be replaced to obtain the satellite clock error of the base / target frequency combination:

[0112] cdt IF,15 =cdt-(α 15,1 ×d1+α 15,2 ×d5)-(α 15,1 ×bv1+α 15,2 ×bv5);

[0113] In the above formula, d5 is the stable part of the pseudorange hardware delay at the target frequency, and bv5 is the time-varying part of the phase hardware delay at the target frequency.

[0114] Subtracting the base / target frequency combination satellite clock error from the base / traditional frequency combination satellite clock error yields:

[0115]

[0116] In the above formula, we can get:

[0117] cdt IF,15 -cdt IF,12 =(α 12,1 ×d1+α 12,2 ×d2)-(α 15,1 ×d1+α 15,2 ×d5)+δ(t);

[0118] Respectively and Substitute into the formula cdt IF,15 -cdt IF,12 =(α 12,1 ×d1+α 12,2 ×d2)-(α 15,1 ×d1+α 15,2 ×d5)+δ(t), after calculation, we can get:

[0119] cdt IF,15 -cdt IF,12 =-α 12,2 ×(d1-d2)+α 15,2 ×(d1-d5)+δ(t);

[0120] d1-d2 represents the pseudorange hardware delay stabilization deviation under the base frequency and the traditional frequency, which can be expressed as DCB(P1, P2). d1-d5 represents the pseudorange hardware delay stabilization deviation under the base frequency and the target frequency, which can be expressed as DCB(P1, P5). Therefore, the satellite clock error of the base / target frequency combination is:

[0121] cdt IF，15 =cdt IF，12 -α 12,2 ×DCB(P1,P2)+α 15,2 ×DCB(P1,P5)+δ(t).

[0122] In this embodiment, once the satellite is determined, the satellite clock error estimated for the base / conventional frequency ionospheric-free combination, the base / conventional frequency coefficient, the code bias between the base / conventional frequencies, the base / target frequency coefficient, and the code bias between the base / target frequencies are all fixed values. The epoch IFCB estimate can also be calculated using the method described in Example 1. Therefore, the satellite clock error for the base / target frequency combination can be accurately obtained. Furthermore, the entire process is simple and computationally efficient.

[0123] Preferably, the satellite clock error estimated for the base / traditional frequency ionosphere-free combination of this embodiment is obtained from the satellite. DCB(P1, P2) and DCB(P1, P5) can be obtained from relevant institutions or from historical data. The historical data can be obtained within 1-7 days. The stable portion of the pseudorange hardware delay at the base frequency, traditional frequency, and target frequency for any day within 1-7 days is downloaded and then the difference is performed. In this way, the obtained DCB(P1, P2) and DCB(P1, P5) values are relatively stable.

[0124] The satellite clock error generation method based on epoch IFCB estimation in this embodiment is based on the stable DCB (P1, P2) and DCB (P1, P5), and adopts the high-precision epoch IFCB estimation δ(t) disclosed in Example 1. By integrating the IFCB product with the satellite clock error products of traditional frequency combinations provided by institutions such as IGS, it can be converted into satellite clock errors of different frequency combinations to meet the diversified market needs, avoid the complexity of product generation caused by estimating multiple groups of satellite clock errors, and greatly reduce R&D costs and maintenance costs.

[0125] Example 3

[0126] Reference Figure 4 This embodiment discloses a satellite IFCB estimation device 100, comprising:

[0127] An acquisition unit 101 is used to acquire station data;

[0128] The detection unit 102 performs cycle slip detection at each measuring station and selects available measuring stations from all measuring stations;

[0129] A construction unit 103 constructs a carrier phase GFIF combination for each available measuring station;

[0130] The calculation unit 104 performs subtraction of the carrier phase GFIF combination of the available stations in adjacent epochs in the same epoch interval to obtain a plurality of inter-epoch differences of the available stations;

[0131] An averaging unit 105 calculates an average inter-epoch difference for a plurality of available inter-epoch differences of measuring stations in each epoch interval;

[0132] The accumulation unit 106 accumulates the plurality of averaged inter-epoch differences to obtain an epoch IFCB estimate.

[0133] Example 4

[0134] This embodiment discloses an electronic device, including:

[0135] one or more processing devices;

[0136] a storage device configured to store one or more programs;

[0137] When the one or more programs are executed by one or more processing devices, the one or more processing devices implement the above-mentioned estimation method and the above-mentioned satellite clock error generation method.

[0138] This embodiment also discloses a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned estimation method and the above-mentioned satellite clock error generation method.

[0139] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for estimating satellite IFCB, characterized in that: include: Get satellite station data; Perform cycle slip detection at each measuring station and select available measuring stations from all measuring stations; constructing a carrier phase GFIF combination for each of the available measuring stations; Differences are made on the carrier phase GFIF combinations of the available stations at adjacent epochs to obtain epoch differences between multiple available stations; For the inter-epoch differences of all available stations, the standard deviation is calculated according to the epoch interval and the standard deviation limit is determined; At each epoch interval, all inter-epoch differences of available stations are compared with the standard deviation limits one by one; If there is an inter-epoch difference that is greater than the standard deviation limit, the inter-epoch difference will be deleted, and the standard deviation of the remaining inter-epoch differences will be calculated again and iterative calculation will be performed; If there is no inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is recorded as the effective inter-epoch difference, and the average of the effective inter-epoch differences within the epoch interval is taken as the average inter-epoch difference; The average inter-epoch differences are accumulated to obtain the epoch IFCB estimate.

2. The estimation method according to claim 1, wherein: The cycle slip detection is performed at each measuring station, and the available measuring stations are screened out from all measuring stations, including: Selecting from all the stations the stations that can observe the satellite; The measuring stations without cycle slips are selected from the measuring stations and regarded as available measuring stations.

3. The estimation method according to claim 1, wherein: The inter-epoch differences of all available stations are used to obtain the standard deviation according to the epoch intervals, and the standard deviation limits are determined as follows: Take 3 times the standard deviation as the standard deviation limit.

4. The estimation method according to claim 1, wherein: The step of accumulating the plurality of averaged inter-epoch differences to obtain an epoch IFCB estimate comprises: Taking the first epoch of the satellite as the reference epoch and setting the inter-epoch difference value of the reference epoch to 0; The remaining inter-epoch difference values are accumulated, and the accumulated result is the epoch IFCB estimate.

5. A method for generating satellite clock errors, characterized by: Obtain satellite clock errors estimated for the base / traditional frequency ionosphere-free combination, base / traditional frequency coefficients, base / target frequency coefficients, code deviation products between base / traditional frequencies, and code deviation products between base / target frequencies; Obtain epochal IFCB estimates using the satellite IFCB estimation method; Calculate and obtain the satellite clock error of the base / target frequency combination; The satellite IFCB estimation method includes: Get satellite station data; Perform cycle slip detection at each measuring station and select available measuring stations from all measuring stations; constructing a carrier phase GFIF combination for each of the available measuring stations; Differences are made on the carrier phase GFIF combinations of the available stations at adjacent epochs to obtain epoch differences between multiple available stations; For the inter-epoch differences of all available stations, the standard deviation is calculated according to the epoch interval and the standard deviation limit is determined; At each epoch interval, all inter-epoch differences of available stations are compared with the standard deviation limits one by one; If there is an inter-epoch difference that is greater than the standard deviation limit, the inter-epoch difference will be deleted, and the standard deviation of the remaining inter-epoch differences will be calculated again and iterative calculation will be performed; If there is no inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is recorded as the effective inter-epoch difference, and the average of the effective inter-epoch differences within the epoch interval is taken as the average inter-epoch difference; The average inter-epoch differences are accumulated to obtain the epoch IFCB estimate.

6. The generation method according to claim 5, characterized in that The formula for calculating and obtaining the satellite clock error of the base / target frequency is: ； in, is the satellite clock error of the base / target combination, Satellite clock errors estimated for the base / conventional frequency ionospheric-free combination, is the fundamental / traditional frequency coefficient, For the code deviation between basic / traditional, is the base / target frequency coefficient, is the yardage deviation between base / target, is the IFCB estimate for the epoch.

7. A satellite IFCB estimation device, characterized in that: include: An acquisition unit, used for acquiring station data; The detection unit performs cycle slip detection at each measuring station and selects available measuring stations from all measuring stations; Construction unit, constructs the carrier phase GFIF combination of each available station; A calculation unit is configured to perform a difference calculation on the carrier phase GFIF combination of the available stations in adjacent epochs in the same epoch interval to obtain epoch differences between multiple available stations; The averaging unit calculates the standard deviation of the inter-epoch differences of all available stations according to the epoch interval and determines the standard deviation limit. At each epoch interval, all inter-epoch differences of the available stations are compared with the standard deviation limit one by one. If there is an inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is deleted, and the standard deviation is calculated again for the remaining inter-epoch differences and iterative calculation is performed. If there is no inter-epoch difference greater than the standard deviation limit, the inter-epoch difference is recorded as the valid inter-epoch difference, and the average of the valid inter-epoch differences within the epoch interval is taken as the average inter-epoch difference. The accumulation unit accumulates the differences between the multiple average epochs to obtain an epoch IFCB estimate.

8. An electronic device, characterized in that: include: one or more processing devices; a storage device configured to store one or more programs; When the one or more programs are executed by one or more processing devices, the one or more processing devices implement the estimation method according to any one of claims 1 to 4 or the satellite clock error generation method according to claim 5 or 6.

9. A computer-readable storage medium, characterized in that Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the estimation method according to any one of claims 1 to 4 or the satellite clock error generation method according to claim 5 or 6.

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