Method, device, positioning system and medium for determining positioning reliability of a navigation system

Abstract

The application discloses a method and device for determining the positioning reliability of a navigation system, a positioning system and a medium, and relates to the technical field of positioning. The method comprises the following steps: acquiring the current detection statistics of a correction product by a detector; inputting the current detection statistics into a previously established integrity parameter model; wherein the integrity parameter model is established according to historical data of the correction product and detection statistics acquired by the detector within a corresponding historical period; outputting the actual integrity parameter of the correction product by the integrity parameter model; and determining the positioning reliability of the navigation positioning system according to the actual integrity parameter. Compared with the previous method of predicting the real-time service performance of the positioning system only by using historical data, the method provided in the application determines the integrity parameter according to the historical data and external detection information detected by the detector, so that the obtained integrity parameter is more accurate, and the reliability of GNSS positioning can be more accurately determined according to the integrity parameter.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a method, apparatus, positioning system and medium for determining the positioning reliability of a navigation system. Background Technology

[0002] Global Navigation Satellite System (GNSS) provides all-weather, real-time positioning, navigation, and timing services to users worldwide. To meet the high-precision positioning needs of fields such as surveying, autonomous driving, and monitoring, it is necessary to correct the original GNSS measurement errors to achieve centimeter- or even millimeter-level positioning. As the foundation for achieving high-precision positioning, Precise Point Positioning-Real-Time Kinematic (PPP-RTK) requires GNSS correction products that mainly include precise orbit, precise clock bias, code bias, phase bias, ionospheric correction, and tropospheric correction. In addition to providing the data products themselves, GNSS correction product service providers must also provide the accuracy factor and integrity information for each type of product.

[0003] High-precision positioning service providers that can provide integrity parameters mostly employ a post-processing approach using long-term historical service data. This involves error envelope processing and probability calculations to obtain parameter values ​​applicable over a longer period. However, the integrity parameters obtained using this method remain constant over a considerable timeframe. While theoretically sound, this approach requires consistent operating conditions, highly uniform hardware, stable system performance, and a stable observation environment. However, atmospheric activity and various maintenance and upgrades make it difficult to obtain accurate integrity parameters by relying solely on historical data to predict real-time service performance. If the integrity parameters provided by the service provider are too conservative, the terminal's protection level will be excessively high, impacting service availability; conversely, if the integrity parameters are lower than the actual values, the terminal's protection level will be too low, threatening user positioning security.

[0004] Therefore, obtaining accurate integrity parameters and determining the reliability of GNSS positioning based on these parameters is a technical problem that urgently needs to be solved by those in the field. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, positioning system and medium for determining the positioning reliability of a navigation system, so as to obtain more accurate integrity parameters and thereby determine the reliability of GNSS positioning based on the integrity parameters.

[0006] To address the aforementioned technical problems, this application provides a method for determining the positioning reliability of a navigation system, comprising:

[0007] Obtain current detection statistics for Global Navigation Satellite System correction products using detectors;

[0008] The current detection statistics are input into a pre-established integrity parameter model; wherein the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period.

[0009] The actual integrity parameters of the corrected product are output through the integrity parameter model.

[0010] The reliability of the navigation and positioning system's positioning is determined based on the actual integrity parameters.

[0011] Preferably, the integrity parameters include at least: the probability that the fault of the corrected product occurs on a single satellite, the probability that the fault of the corrected product occurs in the entire constellation, the conservative amplification factor of the standard deviation of the error of the corrected product, and the conservative envelope deviation of the mean of the error of the corrected product.

[0012] Preferably, establishing the integrity parameter model includes:

[0013] Obtain the historical data of the corrected product and the detection statistics of the corrected product detected by the detector within the corresponding historical time period;

[0014] The first integrity parameter benchmark of the corrected product is determined based on the historical data, and the detection statistic benchmark is determined based on the detection statistic.

[0015] Multiple parameter models are determined based on the aforementioned detection statistics;

[0016] Obtain the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model;

[0017] The amplification factor of the integrity parameter corresponding to each parameter model is determined based on the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model, and the average detection statistic corresponding to each parameter model, so as to establish the integrity parameter model based on the detection statistic benchmark, the amplification factor, and the first integrity parameter benchmark.

[0018] Correspondingly, the step of outputting the actual integrity parameters of the corrected product through the integrity parameter model includes:

[0019] Select the target parameter model from all the parameter models described;

[0020] The actual integrity parameter of the corrected product is determined based on the detection statistic benchmark, the amplification coefficient corresponding to the target parameter model, the first integrity parameter benchmark, and the current detection statistic.

[0021] Preferably, determining the first integrity parameter benchmark of the corrected product based on the historical data includes:

[0022] Obtain the first historical data provided by the first user and the second historical data provided by the second user;

[0023] The difference between the first historical data and the second historical data is obtained to determine the error of the corrected product;

[0024] The first integrity parameter benchmark of the corrected product is determined by an envelope algorithm based on the error.

[0025] Preferably, determining the detection statistic benchmark based on the detection statistic includes:

[0026] Obtain the detection statistics corresponding to each moment within the historical time period;

[0027] Determine whether the detection statistics at each time point are within a preset range;

[0028] If so, the average value of the detection statistic for all time points is taken as the benchmark for the detection statistic;

[0029] If not, then the detection statistics corresponding to the time when the detection statistics exceed the preset range are excluded; the average value of the detection statistics corresponding to all remaining times except the time when the detection statistics are excluded is calculated as the benchmark of the detection statistics.

[0030] Preferably, determining multiple parameter models based on the detection statistics includes:

[0031] When acquiring the detection statistics at each time point, the environmental conditions of the navigation and positioning system at each time point are acquired; wherein, the environment includes at least the hardware environment, system performance, and observation environment;

[0032] When the environmental conditions meet the corresponding preset requirements, the detection statistics at the corresponding time are determined as a set of parameter models in order to determine multiple sets of parameter models.

[0033] Preferably, selecting the target parameter model from all the parameter models includes:

[0034] When acquiring the current detection statistics, the current environmental conditions of the navigation and positioning system are obtained.

[0035] Based on the current environment, select the parameter model that corresponds to the current environment from the parameter models, and use it as the target parameter model.

[0036] To address the aforementioned technical problems, this application also provides an apparatus for determining the positioning reliability of a navigation system, comprising:

[0037] The acquisition module is used to obtain the current detection statistics of the Global Navigation Satellite System correction product through the detector;

[0038] An input module is used to input the current detection statistics into a pre-established integrity parameter model; wherein the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period.

[0039] The output module is used to output the actual integrity parameters of the corrected product through the integrity parameter model;

[0040] The determination module is used to determine the reliability of the navigation and positioning system's positioning based on the actual integrity parameters.

[0041] To address the aforementioned technical problems, this application also provides a positioning system, comprising:

[0042] Memory, used to store computer programs;

[0043] A processor is used to execute the computer program to implement the steps of the method described above for determining the positioning reliability of a navigation system.

[0044] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for determining the positioning reliability of a navigation system described above.

[0045] The method for determining the positioning reliability of a navigation system provided in this application includes: obtaining the current detection statistics of a Global Navigation Satellite System (GNSS) correction product through a detector; inputting the current detection statistics into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the correction product and detection statistics obtained by the detector within the corresponding historical period; outputting the actual integrity parameters of the correction product through the integrity parameter model; and determining the positioning reliability of the navigation system based on the actual integrity parameters. Compared with previous methods that only use historical data to predict the real-time service performance of a positioning system, the method provided in this application, in addition to using historical data, also determines the integrity parameters based on external detection information detected by the detector, making the obtained integrity parameters more accurate, and thus enabling a more accurate determination of the GNSS positioning reliability based on the integrity parameters.

[0046] In addition, this application also provides an apparatus, positioning system and medium for determining the positioning reliability of a navigation system, which has the same or corresponding technical features as the method for determining the positioning reliability of a navigation system mentioned above, and has the same effect. Attached Figure Description

[0047] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A flowchart illustrating a method for determining the positioning reliability of a navigation system, provided in an embodiment of this application;

[0049] Figure 2 A structural diagram of an apparatus for determining the positioning reliability of a navigation system provided in an embodiment of this application;

[0050] Figure 3 A structural diagram of a positioning system provided in another embodiment of this application;

[0051] Figure 4 This is a flowchart illustrating a method for dynamically calculating the integrity parameters of a GNSS correction product based on detection information, as provided in an embodiment of this application. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0053] The core of this application is to provide a method, apparatus, positioning system and medium for determining the positioning reliability of a navigation system, in order to obtain more accurate integrity parameters, and thereby determine the reliability of GNSS positioning based on the integrity parameters.

[0054] GNSS typically consists of three parts: ground control, space control, and user equipment. The ground control part usually comprises a master control station, ground antennas, monitoring stations, and a communication support system. The master control station manages and coordinates the entire ground control system; the ground antennas, under the control of the master control station, transmit search messages to the satellites; the monitoring stations are automatic data collection centers; and the communication support system handles data transmission. The space control part includes multiple satellites. The user equipment part mainly consists of receivers and antennas. Satellites continuously transmit their current location coordinates and timestamps back to the ground. After receiving location information and corresponding timestamps from multiple satellites simultaneously, users can calculate their distance to the satellites and thus determine their location.

[0055] To meet the high-precision positioning needs of fields such as surveying, autonomous driving, and monitoring, it is necessary to correct the original GNSS measurement errors to achieve centimeter-level or even millimeter-level positioning. As the foundation for high-precision positioning, the GNSS correction products required for PPP-RTK mainly include precise orbit, precise clock bias, code bias, phase bias, ionospheric correction, and tropospheric correction. In addition to providing the data products themselves, PPP-RTK positioning service providers also need to provide the accuracy factor and integrity information for each type of product. Currently, some high-precision positioning service providers do not directly provide integrity parameters to users; instead, users set a set of empirical values ​​to calculate the protection level. While this method is simple, the calculated integrity results are unreliable and cannot truly realize commercial applications. For high-precision positioning service providers that can provide integrity parameters, most rely on predicting the reliability of the positioning system based on historical service data. Taking a quarterly cycle as an example, by processing the error data of all products in the first quarter, a set of integrity parameters can be obtained. This set of parameters will be continuously broadcast to users in the second quarter, and then recalculated and updated at the end of the second quarter for use in the next quarter. Therefore, the integrity parameters obtained using this method are constant over a relatively long period. While this method is theoretically sound, it requires that the service provider's operating conditions remain unchanged, the hardware be highly consistent, the system performance be stable, and the observation environment remain unchanged. However, due to atmospheric activity and various maintenance and upgrades, using only historical data to predict real-time service performance is insufficient to obtain accurate integrity parameters, especially since occasional service system failures can increase the probability of failure and the envelope parameters in the short term.

[0056] The realization of high-precision, high-integrity positioning based on GNSS relies on correction data products. The integrity parameters of these correction data are essential inputs for the positioning terminal to calculate the protection level, and their accuracy and conservatism determine the quality of the positioning result's integrity monitoring. This application aims to solve the problem of accurately calculating the integrity parameters of GNSS correction products, with the goal of providing corresponding integrity parameters in real time for all correction products, ensuring parameter conservatism while improving their sensitivity and accuracy.

[0057] Therefore, in addition to historical data, this application also introduces external detection information detected in real time by the detector, and proposes a dynamic calculation method for the integrity parameters of the service product, so that the obtained integrity parameters are more accurate, thereby determining the reliability of GNSS positioning based on the integrity parameters.

[0058] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Figure 1 A flowchart illustrating a method for determining the positioning reliability of a navigation system, as provided in this application embodiment, is shown below. Figure 1 As shown, the method includes:

[0059] S10: Obtain the current detection statistics of the Global Navigation Satellite System correction product through the detector.

[0060] GNSS correction products mainly include precise orbit, precise clock error, code deviation, phase deviation, ionospheric correction, and tropospheric correction. Taking the number of satellites in precise orbit as an example, the current number of satellites in the GNSS correction product is obtained through a detector; for example, assuming the current number of satellites is 15.

[0061] S11: Input the current detection statistics into the pre-established integrity parameter model; wherein, the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period.

[0062] S12: Output corrected product actual integrity parameters through integrity parameter model.

[0063] S13: Determine the reliability of the navigation and positioning system's positioning based on the actual integrity parameters.

[0064] Previous solutions determined integrity parameters based on historical data of the corrected product. However, due to atmospheric activity and various dimensional upgrades, relying solely on historical data to predict real-time service performance makes it difficult to obtain accurate integrity parameters. In particular, occasional service system failures can increase the probability of failure and the envelope parameter in the short term. Therefore, this embodiment, in addition to using historical data of the corrected product, also determines the integrity parameters of the corrected product based on detection statistics acquired by the detector within the corresponding historical time period. The duration and time frame of the acquired historical data are not limited and are determined based on the actual situation.

[0065] An integrity parameter model is established based on data and detection statistics over historical periods. This model involves processing medium- to long-term historical service data to obtain a set of parameters as a baseline. Then, the detector test statistics for the corresponding time periods are fitted, the fitting formula is solved, and the integrity parameter model is established. Inputting the current detection statistics into the established integrity parameter model yields the actual integrity parameters of the corrected product. These integrity parameters can then be used to determine the reliability of the navigation and positioning system.

[0066] The method for determining the positioning reliability of a navigation system provided in this embodiment includes: acquiring the current detection statistics of a Global Navigation Satellite System (GNSS) correction product through a detector; inputting the current detection statistics into a pre-established integrity parameter model; wherein the integrity parameter model is established based on historical data of the correction product and detection statistics acquired by the detector within the corresponding historical time period; outputting the actual integrity parameters of the correction product through the integrity parameter model; and determining the positioning reliability of the navigation system based on the actual integrity parameters. Compared to previous methods that only use historical data to predict the real-time service performance of the positioning system, the method provided in this embodiment, in addition to using historical data, also determines the integrity parameters based on external detection information detected by the detector, making the obtained integrity parameters more accurate, and thus enabling a more accurate determination of the GNSS positioning reliability based on the integrity parameters.

[0067] Integrity parameters are essential inputs for high-precision positioning users to calculate the integrity protection level on the terminal. These parameters characterize the statistical properties of product errors. Conservatism of these parameters is achieved through modeling, envelope manipulation, and other methods to improve the confidence level of the results. To accurately assess the reliability of GNSS positioning, a preferred implementation method includes integrity parameters that at least include: the probability P of correcting product failures occurring on a single satellite. sat The probability P of correcting product malfunctions occurring across the entire constellation. const α is the conservative amplification factor for correcting the standard deviation of product error, and b is the conservative envelope deviation for correcting the mean of product error.

[0068] The integrity parameters provided in this embodiment include at least the four integrity parameters listed above. Compared with the method of determining the reliability of GNSS positioning by using only one integrity parameter, the method provided in this embodiment can determine the reliability of GNSS positioning more accurately by using multiple integrity parameters.

[0069] In practice, to establish a integrity parameter model, a preferred implementation method is to establish the integrity parameter model by including:

[0070] Obtain historical data of the corrected products and the detection statistics of the corrected products detected by the detector within the corresponding historical time period;

[0071] The first integrity parameter benchmark for the corrected product is determined based on historical data, and the benchmark for the test statistics is determined based on the test statistics.

[0072] Multiple parameter models are determined based on the detection statistics;

[0073] Obtain the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model;

[0074] The amplification factor of the integrity parameter corresponding to each parameter model is determined based on the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model, and the average detection statistic corresponding to each parameter model, so as to establish the integrity parameter model based on the detection statistic benchmark, the amplification factor, and the first integrity parameter benchmark.

[0075] After determining the integrity parameter model, the actual integrity parameters of the corrected product are output through the integrity parameter model, including:

[0076] Select the target parameter model from all parameter models;

[0077] The actual integrity parameters of the corrected product are determined based on the detection statistic benchmark, the amplification factor corresponding to the target parameter model, the first integrity parameter benchmark, and the current detection statistic.

[0078] The primary integrity parameter benchmark for determining the corrected product based on historical data includes:

[0079] Obtain the first historical data provided by the first user and the second historical data provided by the second user;

[0080] The difference between the first historical data and the second historical data is obtained in order to determine the error of the product to be corrected;

[0081] The first integrity parameter benchmark of the corrected product is determined by using an envelope algorithm to address the error.

[0082] The benchmark for determining the detection statistics based on the detection statistics includes:

[0083] Obtain the detection statistics for each moment within the historical time period;

[0084] Determine whether the detection statistics at each time point are within the preset range;

[0085] If so, the average value of the detection statistics at all times is taken as the benchmark for the detection statistics;

[0086] If not, then the detection statistics corresponding to the time when the detection statistics exceed the preset range are removed; the average value of the detection statistics corresponding to all remaining time times, excluding the time times corresponding to the removed detection statistics, is used as the benchmark for the detection statistics.

[0087] The first user can be considered the positioning provider; the second user can be considered a third party, i.e., experimental personnel. There is no limitation on the preset range. For example, the preset range for the number of satellites in a precision orbit product is 8 to 15. Any satellites with fewer than 8 or more than 15 satellites can be removed, and the average number of satellites at all remaining times is used as the baseline for the satellite count. When the number of satellites at all times is between 9 and 15, the average number of satellites at all times can be used as the baseline for the satellite count.

[0088] Here, the integrity parameter includes the probability P of correcting a product failure occurring on a single satellite. sat The probability P of correcting product malfunctions occurring across the entire constellation. const Taking the conservative amplification factor α of the corrected product error standard deviation and the conservative envelope deviation b of the corrected product error mean as examples, this paper explains the process of establishing an integrity parameter model and determining the actual integrity parameters of the corrected product based on the established integrity parameter model.

[0089] Based on the mid-to-long-term historical product data stored by the location provider and the ground truth results provided by a third party, the product error is first calculated. Then, using the envelope algorithm, the integrity parameter benchmark α for each product is determined. base b base , For the test statistic benchmark q base Simply removing outliers from the test statistics stored for the corresponding time period and then averaging them is sufficient. However, the average calculated from long-term data may not be able to conservatively describe the error distribution under extreme failure conditions. Therefore, a real-time detector is introduced to perform real-time floating estimation of the integrity parameter.

[0090] N parameter models are determined based on the magnitude of the test statistic, denoted as i = 1, ..., N. Specifically, the number of models and the intervals are determined by setting thresholds, i.e., 0 < q < T1, ..., T. N-1<q<T N T N <q, where q represents the test statistic, T i This represents an interval. For each model, determine its corresponding integrity parameter benchmark, a. ref，i b ref，i , And the average of the test statistics for each model is obtained.

[0091] Will Let α, b, and P be the corresponding to the i-th model, respectively. sat P const The amplification factor of the parameter is calculated based on the following formula:

[0092]

[0093]

[0094]

[0095]

[0096] After determining the integrity parameter amplification factor for all modified models in this scheme, the integrity parameters of the modified product can be dynamically calculated in real time based on the following formula:

[0097]

[0098]

[0099]

[0100]

[0101] Where, q RT The test statistic a is calculated in real time by the corresponding service system. out b out , The integrity parameters of the final output service product.

[0102] In the method provided in this embodiment, a set of parameters is obtained as a benchmark based on historical service data. Then, the detector test statistic for the corresponding time period is fitted, the fitting formula is solved, and finally, this formula is used to calculate the integrity parameters in actual operation. Because this method introduces real-time quality information of product error on the basis of historical data, the results obtained are more accurate.

[0103] To obtain multiple sets of parameter models, a preferred implementation method is to determine the multiple sets of parameter models based on the detection statistics, including:

[0104] When obtaining the detection statistics at each time point, the environmental conditions of the navigation and positioning system at each time point are also obtained; the environment includes at least the hardware environment, system performance, and observation environment.

[0105] When the environmental conditions meet the corresponding preset requirements, the detection statistics at the corresponding time are determined as a set of parameter models in order to determine multiple sets of parameter models.

[0106] There are no restrictions on the preset requirements; they can be determined based on the actual situation. For example, the detection statistics corresponding to the same environmental conditions at different times can be grouped into a set of parameter models.

[0107] The method of dividing the parameter model into multiple groups provided in this embodiment has better versatility and adaptability because it determines the multiple parameter models according to the environmental conditions.

[0108] Based on the above multiple parameter models, in practice, to accurately determine the target parameter model, a preferred implementation method is to select the target parameter model from all parameter models, including:

[0109] When obtaining the current detection statistics, the current environmental conditions of the navigation and positioning system are obtained.

[0110] Based on the current environment, select the parameter model that is the same as the current environment from the parameter models and use it as the target parameter model.

[0111] Since different parameter models are determined under different environments, the parameter model that is the same as or similar to the current environment of the navigation and positioning system can be selected as the target parameter model. Then, the integrity parameters of the corrected product can be determined more accurately based on the target parameter model.

[0112] In the above embodiments, the method for determining the positioning reliability of a navigation system has been described in detail. This application also provides embodiments corresponding to the apparatus for determining the positioning reliability of a navigation system. It should be noted that this application describes the embodiments of the apparatus from two perspectives: one based on functional modules and the other based on hardware.

[0113] Figure 2 A structural diagram of an apparatus for determining the positioning reliability of a navigation system according to an embodiment of this application. This embodiment, based on functional modules, includes:

[0114] The acquisition module 10 is used to acquire the current detection statistics of the Global Navigation Satellite System correction product through the detector;

[0115] Input module 11 is used to input the current detection statistics into a pre-established integrity parameter model; wherein, the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period;

[0116] Output module 12 is used to output the actual integrity parameters of the corrected product through the integrity parameter model;

[0117] The determination module 13 is used to determine the reliability of the navigation and positioning system's positioning based on the actual integrity parameters.

[0118] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0119] The apparatus for determining the positioning reliability of a navigation system provided in this embodiment utilizes an acquisition module to acquire the current detection statistics of a Global Navigation Satellite System (GNSS) correction product through a detector; an input module inputs the current detection statistics into a pre-established integrity parameter model; wherein, the integrity parameter model is established based on historical data of the correction product and detection statistics acquired by the detector within the corresponding historical time period; an output module outputs the actual integrity parameters of the correction product through the integrity parameter model; and a determination module determines the positioning reliability of the navigation system based on the actual integrity parameters. Compared to previous methods that only use historical data to predict the real-time service performance of the positioning system, the apparatus provided in this embodiment determines the integrity parameters based not only on historical data but also on external detection information detected by the detector, making the obtained integrity parameters more accurate, and thus enabling a more accurate determination of the GNSS positioning reliability based on the integrity parameters.

[0120] Figure 3 This is a structural diagram of a positioning system provided in another embodiment of this application. This embodiment is based on a hardware perspective, such as... Figure 3 As shown, the positioning system includes:

[0121] Memory 20 is used to store computer programs;

[0122] The processor 21 is configured to execute a computer program to implement the steps of the method for determining the positioning reliability of a navigation system as described in the above embodiments.

[0123] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0124] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the method for determining the positioning reliability of a navigation system disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the method for determining the positioning reliability of a navigation system mentioned above.

[0125] In some embodiments, the positioning system may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0126] Those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the positioning system and may include more or fewer components than illustrated.

[0127] The positioning system provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a method for determining the positioning reliability of the navigation system, with the same effect as above.

[0128] This application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0129] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] The computer-readable storage medium provided in this application includes the aforementioned method for determining the positioning reliability of a navigation system, with the same effect.

[0131] To enable those skilled in the art to better understand the present application, the following description is provided in conjunction with the appendix. Figure 4 The present application will be further described in detail with reference to specific embodiments. Figure 4 A flowchart illustrating a method for dynamically calculating the integrity parameters of a GNSS correction product based on detection information, as provided in this application embodiment, is shown below. Figure 4 As shown, the method includes:

[0132] S14: Based on historically stored medium- to long-term data and third-party truth results, use the error envelope algorithm to determine the integrity parameter benchmark a for each product. base b base , and the test statistic benchmark q base ;

[0133] S15: Determine N sets of parameters based on the magnitude of the test statistic, calculate the model, and calculate the average test statistic for each model. And the integrity parameter benchmark α for each model group ref，i b ref，i ,

[0134] S16: Calculate the magnification factor of all integrity parameters for each model.

[0135] S17: Using the established model, calculate and correct the product's integrity parameters in real time.

[0136] The method provided in this embodiment incorporates real-time detection information from the detector into the calculation of integrity parameters. Based on existing medium- to long-term statistical methods, baseline parameter values ​​are determined, and combined with the magnitude of the test statistic, dynamic calculation of integrity parameters is achieved. By establishing an algorithm for real-time calculation of the integrity parameters of GNSS-corrected products, the accuracy, sensitivity, and applicability of the parameters are improved while ensuring their conservatism, thereby enhancing the integrity monitoring performance of GNSS-based high-precision positioning.

[0137] The method, apparatus, positioning system, and medium for determining the positioning reliability of a navigation system provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0138] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for determining the positioning reliability of a navigation system, characterized in that, include: Obtain current detection statistics for Global Navigation Satellite System correction products using detectors; The current detection statistics are input into a pre-established integrity parameter model; wherein the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period. The actual integrity parameters of the corrected product are output through the integrity parameter model. The reliability of the navigation and positioning system's positioning is determined based on the actual integrity parameters. Establishing the integrity parameter model includes: Obtain the historical data of the corrected product and the detection statistics of the corrected product detected by the detector within the corresponding historical time period; The first integrity parameter benchmark of the corrected product is determined based on the historical data, and the detection statistic benchmark is determined based on the detection statistic. Multiple parameter models are determined based on the aforementioned detection statistics; Obtain the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model; The amplification factor of the integrity parameter corresponding to each parameter model is determined based on the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model, and the average detection statistic corresponding to each parameter model, so as to establish the integrity parameter model based on the detection statistic benchmark, the amplification factor, and the first integrity parameter benchmark. Correspondingly, the step of outputting the actual integrity parameters of the corrected product through the integrity parameter model includes: Select the target parameter model from all the parameter models described; The actual integrity parameter of the corrected product is determined based on the detection statistic benchmark, the amplification coefficient corresponding to the target parameter model, the first integrity parameter benchmark, and the current detection statistic.

2. The method for determining the positioning reliability of a navigation system according to claim 1, characterized in that, The integrity parameters include at least: the probability that the fault of the corrected product occurs on a single satellite, the probability that the fault of the corrected product occurs in the entire constellation, the conservative amplification factor of the standard deviation of the error of the corrected product, and the conservative envelope bias of the mean of the error of the corrected product.

3. The method for determining the positioning reliability of a navigation system according to claim 2, characterized in that, The step of determining the first integrity parameter benchmark of the corrected product based on the historical data includes: Obtain the first historical data provided by the first user and the second historical data provided by the second user; The difference between the first historical data and the second historical data is obtained to determine the error of the corrected product; The first integrity parameter benchmark of the corrected product is determined by an envelope algorithm based on the error.

4. The method for determining the positioning reliability of a navigation system according to claim 2 or 3, characterized in that, The step of determining the detection statistic benchmark based on the detection statistic includes: Obtain the detection statistics corresponding to each moment within the historical time period; Determine whether the detection statistics at each time point are within a preset range; If so, the average value of the detection statistic for all time points is taken as the benchmark for the detection statistic; If not, then the detection statistics corresponding to the time when the detection statistics exceed the preset range are excluded; the average value of the detection statistics corresponding to all remaining times except the time when the detection statistics are excluded is calculated as the benchmark of the detection statistics.

5. The method for determining the positioning reliability of a navigation system according to claim 4, characterized in that, The step of determining multiple parameter models based on the detection statistics includes: When acquiring the detection statistics at each time point, the environmental conditions of the navigation and positioning system at each time point are acquired; wherein, the environment includes at least the hardware environment, system performance, and observation environment; When the environmental conditions meet the corresponding preset requirements, the detection statistics at the corresponding time are determined as a set of parameter models in order to determine multiple sets of parameter models.

6. The method for determining the positioning reliability of a navigation system according to claim 5, characterized in that, The step of selecting the target parameter model from all the parameter models includes: When acquiring the current detection statistics, the current environmental conditions of the navigation and positioning system are obtained. Based on the current environment, select the parameter model that corresponds to the current environment from the parameter models, and use it as the target parameter model.

7. An apparatus for determining the positioning reliability of a navigation system, characterized in that, include: The acquisition module is used to obtain the current detection statistics of the Global Navigation Satellite System correction product through the detector; An input module is used to input the current detection statistics into a pre-established integrity parameter model; wherein the integrity parameter model is established based on the historical data of the corrected product and the detection statistics obtained by the detector in the corresponding historical period. The output module is used to output the actual integrity parameters of the corrected product through the integrity parameter model. A determination module is used to determine the reliability of the navigation and positioning system's positioning based on the actual integrity parameters; Establishing the integrity parameter model includes: Obtain the historical data of the corrected product and the detection statistics of the corrected product detected by the detector within the corresponding historical time period; The first integrity parameter benchmark of the corrected product is determined based on the historical data, and the detection statistic benchmark is determined based on the detection statistic. Multiple parameter models are determined based on the aforementioned detection statistics; Obtain the second integrity parameter benchmark corresponding to each parameter model and the average detection statistic corresponding to each parameter model; The amplification factor of the integrity parameter corresponding to each parameter model is determined based on the first integrity parameter benchmark, the detection statistic benchmark, the second integrity parameter benchmark corresponding to each parameter model, and the average detection statistic corresponding to each parameter model, so as to establish the integrity parameter model based on the detection statistic benchmark, the amplification factor, and the first integrity parameter benchmark. Correspondingly, the output module is specifically used for: Select the target parameter model from all the parameter models described; The actual integrity parameter of the corrected product is determined based on the detection statistic benchmark, the amplification coefficient corresponding to the target parameter model, the first integrity parameter benchmark, and the current detection statistic.

8. A positioning system, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the method for determining the positioning reliability of a navigation system as described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for determining the positioning reliability of a navigation system as described in any one of claims 1 to 6.

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