Satellite system environment cut-off elevation angle determination method, system and storage medium

Abstract

The present invention discloses a method, system, and storage medium for determining the environmental cutoff elevation angle of a satellite system, which are applied to the field of satellite navigation and positioning technology and can effectively determine the environmental cutoff elevation angle, thereby effectively improving the positioning accuracy of the satellite system. The method includes: obtaining an observation value file and a broadcast ephemeris file; performing data solution using a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solution data; the solution data includes a double-difference residual sequence, elevation angle, and azimuth angle of each satellite; performing preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence; calculating the mean and standard deviation of each segmented residual sequence; screening a target segmented sequence using a preset standard deviation method based on the mean and standard deviation; constructing a satellite sky map grid; plotting the target segmented sequence onto the satellite sky map grid according to the satellite elevation angle and azimuth angle to obtain a satellite sky map; and predicting the environmental cutoff elevation angle based on the satellite sky map.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation and positioning technology, and in particular to a method, system and storage medium for determining a satellite system environment cutoff altitude angle. Background Art

[0002] As a means of geodetic surveying, the Global Navigation Satellite System (GNSS) has played an important role in earth science and engineering applications. With its advantages of high precision, all-weather, and full automation, GNSS technology is widely used in deformation monitoring applications such as bridges, dams, and landslides, and has become the main means of health monitoring of civil and water conservancy projects. In actual applications, due to the complex observation environment of the measuring station, such as the satellite signals in bridge monitoring are often blocked by bridge towers, cables, and passing vehicles, and the vegetation and slopes in landslide monitoring seriously block the satellite signals, resulting in reduced positioning accuracy. In related technologies, the low positioning accuracy and insufficient availability due to the frequent influence of signal obstruction in complex environments have become bottleneck problems restricting their application. Summary of the Invention

[0003] In order to solve at least one of the above technical problems, the present invention proposes a method, system and storage medium for determining the environmental cutoff altitude angle of a satellite system, which can effectively determine the environmental cutoff altitude angle, thereby effectively improving the positioning accuracy of the satellite system.

[0004] In one aspect, an embodiment of the present invention provides a method for determining a satellite system environment cutoff elevation angle, comprising the following steps:

[0005] Get observation files and broadcast ephemeris files;

[0006] Performing data solution using a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solution data; wherein the solution data includes a double-difference residual sequence, an elevation angle, and an azimuth angle of each satellite;

[0007] Performing preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence;

[0008] Calculate the mean and standard deviation of the segmented residual sequence for each segment;

[0009] A target segment sequence is obtained by screening using a preset standard deviation method according to the mean and the standard deviation;

[0010] Constructing a satellite sky grid;

[0011] Plotting the target segment sequence onto the satellite sky map grid according to satellite altitude angles and azimuth angles to obtain a satellite sky map;

[0012] The environmental cutoff elevation angle is predicted based on the satellite sky map.

[0013] A method for determining the environmental cutoff elevation angle of a satellite system according to an embodiment of the present invention has at least the following beneficial effects: This embodiment first obtains observation files and broadcast ephemeris files and performs data resolution using a post-hoc double-difference relative positioning algorithm to obtain a double-difference residual sequence, elevation angle, and azimuth angle for each satellite, thereby preserving observation residuals affected by occlusion. Next, this embodiment performs preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence, and calculates the standard deviation and mean of each segmented residual sequence to effectively determine the degree of error caused by occlusion in the observations. Furthermore, this embodiment uses a preset standard deviation method to filter the mean and standard deviation to obtain a target segmented sequence. Simultaneously, this embodiment constructs a satellite sky map grid and plots the target segmented sequence onto the satellite sky map grid according to satellite elevation angle and azimuth angle to construct a satellite sky map. This satellite sky map allows for intuitive and clear prediction of the portion of the station environment affected by occlusion, determines the environmental cutoff elevation angle, and effectively improves the positioning accuracy of the satellite system.

[0014] According to some embodiments of the present invention, performing data solution using a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solution data includes:

[0015] According to the carrier phase and pseudo-range observation values ​​of the reference station and the monitoring station, a double-difference observation function is constructed;

[0016] Constructing a standard Kalman filter function according to the double difference observation function;

[0017] Calculating the ambiguity standard deviation according to the standard Kalman filter function;

[0018] Sorting according to a preset sorting method according to the ambiguity standard deviation to obtain a fixed ambiguity;

[0019] The solution data is obtained by calculation based on the fixed ambiguity and the standard Kalman filter function.

[0020] According to some embodiments of the present invention, performing preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence includes:

[0021] The double-difference residual sequence is segmented according to a preset fixed number of epochs to obtain the segmented residual sequence.

[0022] According to some embodiments of the present invention, the step of obtaining a target segment sequence by screening the mean and the standard deviation using a preset standard deviation method includes:

[0023] Calculate the maximum contour value corresponding to each segment of the segmented residual sequence according to the positivity of the mean;

[0024] The target segment sequence is obtained according to the absolute value of the maximum profile value and the preset multipath effect error value.

[0025] According to some embodiments of the present invention, calculating the maximum contour value corresponding to each segment of the segmented residual sequence according to the positivity of the mean value includes:

[0026] When the mean is greater than or equal to zero, the maximum profile value is obtained by adding a preset times the standard deviation to the mean;

[0027] Alternatively, when the mean is less than zero, the maximum profile value is obtained by subtracting the preset times the standard deviation from the mean.

[0028] According to some embodiments of the present invention, constructing a satellite sky grid includes:

[0029] Draw satellite sky maps based on polar coordinates;

[0030] The satellite sky map is divided into grids according to satellite altitude angles and azimuth angles at preset intervals to obtain the satellite sky map grid.

[0031] According to some embodiments of the present invention, plotting the target segment sequence onto the satellite sky map grid according to satellite altitude angles and azimuth angles to obtain a satellite sky map includes:

[0032] The residual value of each epoch of each satellite in the target segmented sequence is plotted on the satellite sky map grid according to the satellite altitude angle and the azimuth angle, and the grid where the target segmented sequence is plotted is marked to obtain the satellite sky marked map.

[0033] On the other hand, an embodiment of the present invention further provides a system for determining a satellite system environment cutoff elevation angle, comprising:

[0034] Acquisition module, used to obtain observation value files and broadcast ephemeris files;

[0035] A solution module is used to perform data solution based on the observation value file and the broadcast ephemeris file using a post-double-difference relative positioning algorithm to obtain solution data; wherein the solution data includes a double-difference residual sequence, an altitude angle, and an azimuth angle of each satellite;

[0036] A segmentation module, configured to perform preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence;

[0037] A calculation module, used to calculate the mean and standard deviation of the segmented residual sequence of each segment;

[0038] A screening module, configured to obtain a target segment sequence by screening the mean and the standard deviation using a preset standard deviation method;

[0039] Construction module, used to build satellite sky grid;

[0040] A plotting module is used to plot the target segment sequence onto the satellite sky map grid according to the satellite altitude angle and azimuth angle to obtain a satellite sky map;

[0041] The prediction module is used to predict the environmental cutoff altitude angle according to the satellite sky marking image.

[0042] On the other hand, an embodiment of the present invention further provides a system for determining a satellite system environment cutoff elevation angle, comprising:

[0043] at least one processor;

[0044] at least one memory for storing at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor implements the method for determining the environmental cutoff altitude angle of a satellite system as described in the above embodiment.

[0046] On the other hand, an embodiment of the present invention further provides a computer storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to implement the method for determining the satellite system environment cutoff elevation angle as described in the above embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a flow chart of a method for determining a satellite system environment cutoff elevation angle according to an embodiment of the present invention;

[0048] Figure 2 This is a principle block diagram of a system for determining a satellite system environment cutoff elevation angle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The embodiments described in the embodiments of this application should not be regarded as limitations of this application. All other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0050] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0052] As a means of geodetic measurement, the Global Navigation Satellite System (GNSS) has played an important role in earth science and engineering applications. With its advantages of high precision, all-weather, and full automation, GNSS technology is widely used in deformation monitoring applications such as bridges, dams, and landslides, and has become the main means of health monitoring of civil and water conservancy projects. In actual applications, due to the complex observation environment of the measuring station, such as the satellite signals in bridge monitoring are often blocked by bridge towers, cables, and passing vehicles, and the vegetation and slopes in landslide monitoring seriously block the satellite signals, resulting in reduced positioning accuracy. In related technologies, the low positioning accuracy and insufficient availability due to the frequent signal blocking in complex environments have become bottleneck problems restricting their application.

[0053] Based on this, an embodiment of the present invention provides a method, system and storage medium for determining the environmental cut-off angle of a satellite system, which can effectively determine the environmental cut-off angle, thereby effectively improving the positioning accuracy of the satellite system. Figure 1 The method of the embodiment of the present invention includes but is not limited to step S110, step S120, step S130, step S140, step S150, step S160, step S170 and step S180.

[0054] Specifically, the application process of the method of the embodiment of the present invention includes but is not limited to the following steps:

[0055] S110: Obtain observation value files and broadcast ephemeris files.

[0056] S120: Perform data solution using a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solution data, wherein the solution data includes the double-difference residual sequence, elevation angle, and azimuth angle of each satellite.

[0057] S130: Perform preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence.

[0058] S140: Calculate the mean and standard deviation of each segment residual sequence.

[0059] S150: Filtering the target segment sequence according to the mean and standard deviation using a preset standard deviation method.

[0060] S160: Build a satellite sky grid.

[0061] S170: Mapping the target segment sequence onto a satellite sky map grid according to the satellite elevation angle and azimuth angle to obtain a satellite sky map.

[0062] S180: The environmental cutoff elevation angle is predicted based on the satellite sky map.

[0063] During operation of this specific embodiment, this embodiment first obtains an observation file and a broadcast ephemeris file. Specifically, this embodiment reads observation files and broadcast ephemeris files obtained by Beidou system or Global Navigation Satellite System (GNSS) receivers at reference stations and monitoring stations. Next, this embodiment performs data resolution using a post-hoc double-difference relative positioning algorithm based on the observation files and broadcast ephemeris files to obtain resolved data. Specifically, the resolved data obtained in this embodiment includes a double-difference residual sequence, elevation angle, and azimuth angle for each satellite. This embodiment utilizes a post-hoc double-difference relative positioning algorithm to resolve data based on the observation files and broadcast ephemeris files, thereby outputting a double-difference residual sequence, elevation angle, and azimuth angle for each satellite. This post-hoc double-difference relative positioning algorithm allows the use of observations from the entire ambiguity arc segment to fix ambiguities, thereby preserving observation residuals affected by occlusion. Furthermore, this embodiment performs pre-segmented segmentation on the double-difference residual sequence to obtain a segmented residual sequence, and calculates the mean and standard deviation of each segmented residual sequence. After segmenting the double-difference residual sequence for each satellite, this embodiment takes the mean and standard deviation of the residuals within each segment. Next, this embodiment uses the preset standard deviation method to filter the target segmented sequence based on the mean and standard deviation. This embodiment uses the preset standard deviation method to filter out the larger residuals in each segmented residual sequence and marks them as target segments, thereby obtaining the target segmented sequence. Furthermore, this embodiment constructs a satellite sky grid. For example, this embodiment divides the satellite sky grid according to satellite altitude and azimuth intervals. Simultaneously, this embodiment plots the target segmented sequence onto the satellite sky grid according to satellite altitude and azimuth, generating a satellite sky map. This embodiment plots each target segmented sequence onto the constructed satellite sky grid to generate a satellite sky map, allowing for intuitive and clear visualization of obstructed portions of the station environment. Next, this embodiment predicts the corresponding environmental cutoff angle based on the satellite sky map, effectively determining the environmental cutoff angle and thereby improving the positioning accuracy of the satellite system.

[0064] In some embodiments of the present invention, data is solved by a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solved data, including but not limited to:

[0065] A double-difference observation function is constructed based on the carrier phase and pseudorange observations of the reference station and the monitoring station.

[0066] The standard Kalman filter function is constructed based on the double difference observation function.

[0067] The ambiguity standard deviation is calculated according to the standard Kalman filter function.

[0068] According to the fuzziness standard deviation, the fixed fuzziness is obtained by sorting in a preset sorting method.

[0069] The solution data is calculated based on the fixed ambiguity and the standard Kalman filter function.

[0070] In this specific embodiment, the embodiment first constructs a double-difference observation function based on the carrier phase and pseudo-range observation values ​​of the reference station and the monitoring station. Specifically, this embodiment constructs a double-difference observation function for the carrier phase and pseudo-range observation values ​​of the reference station p and the monitoring station q, as shown in the following formula (1):

[0071]

[0072] Among them, is the double difference operator. The superscript i represents the satellite number, and the subscript m represents the frequency number. P is the original pseudorange observation value, is the carrier phase observation value, in units of weeks. m is the wavelength of the carrier phase observation at the mth frequency, ρ represents the geometric distance from the satellite to the receiver, c is the speed of light in a vacuum, N is the original carrier phase integer ambiguity parameter, in cycles, and e and ε are the pseudorange and carrier phase observation noise, respectively, including multipath information.

[0073] Next, this embodiment constructs a standard Kalman filter function based on the double difference observation function, and calculates the ambiguity standard deviation based on the standard Kalman filter function. Specifically, this embodiment first writes the above formula (1) into a matrix form, as shown in the following formula (2):

[0074] L k =A k X k +V k (2)

[0075] Where k is the current epoch; L k is the observation value vector, namely the pseudorange and carrier phase observation value; A k is the design matrix; X k is the state vector, which includes the position parameters and ambiguity parameters; V k is the residual vector. Furthermore, this embodiment constructs the standard Kalman filter function by combining the following equation (3) and predicts each position parameter (X, Y, Z), ambiguity parameter N and its standard deviation σ at each epoch N .

[0076] Xk+1 =Φ k+1,k X k +W k (3)

[0077] Among them, W k is zero-mean and its covariance matrix is ​​Q k During the prediction process, the ambiguity of a satellite arc segment is set as a parameter for prediction.

[0078] Next, this embodiment sorts the ambiguity standard deviations according to a preset sorting method to obtain fixed ambiguities. Specifically, this embodiment sorts the ambiguity standard deviations σ obtained according to the arc segment ambiguity standard deviations σ N The ambiguities are sorted, starting with the arc ambiguity with the smallest standard deviation, and each ambiguity arc is fixed using the criterion of ambiguity being close to an integer, thereby obtaining fixed ambiguities. Furthermore, this embodiment calculates solution data based on the fixed ambiguities and a standard Kalman filter function. After the ambiguities are fixed, the fixed ambiguities are substituted back into the Kalman filter equation for an update calculation, obtaining the coordinate parameters after the ambiguities are fixed, and outputting a double-difference residual sequence, satellite elevation angle, and azimuth angle sequence for each satellite at each epoch.

[0079] In some embodiments of the present invention, the double-difference residual sequence is segmented to obtain a segmented residual sequence, including but not limited to:

[0080] The double-difference residual sequence is segmented according to a preset fixed number of epochs to obtain a segmented residual sequence.

[0081] In this specific embodiment, the double-difference residual sequence is segmented by a preset fixed number of epochs to obtain a segmented residual sequence. Specifically, the double-difference residual sequence of each satellite is segmented by a fixed number of epochs, and the portion less than a fixed number of epochs also constitutes a segment. For example, since the multipath effect caused by occlusion usually lasts for 10 to 20 minutes, the average duration of 15 minutes is taken as a standard segment, and the number of epochs n in the segment can be calculated by the following formula (4):

[0082]

[0083] Where T = 900 seconds is the length of a standard segment, and s is the observation sampling rate in seconds. According to equation (4), the epoch length of a segment can be calculated. Then, the arc segments of each double-difference residual sequence for each satellite are segmented according to the length n. Finally, the part that is less than a segment is also converted into a segment, thus obtaining a segmented residual sequence.

[0084] It should be noted that, in some embodiments of the present invention, the mean value and standard deviation of each segmented residual sequence are calculated using the following equations (5) and (6):

[0085]

[0086]

[0087] Where x{x1,x2,…,x n} is the residual time series time of each segment, is the mean of the segmented residual sequence, and σ is the standard deviation of the segmented residual sequence.

[0088] In some embodiments of the present invention, the target segment sequence is obtained by screening according to the mean and standard deviation using a preset standard deviation method, including:

[0089] The maximum contour value corresponding to each segment residual sequence is calculated according to the positivity of the mean.

[0090] The target segment sequence is obtained based on the absolute value of the maximum profile value and the preset multipath effect error value.

[0091] In this specific embodiment, this embodiment first calculates the maximum profile value corresponding to each segmented residual sequence based on the positivity of the mean. Then, the corresponding target segmented sequence is obtained based on the absolute value of the maximum profile value and the preset multipath effect error value. Specifically, this embodiment first judges the positivity of the mean of each segmented residual sequence. Then, the maximum profile value corresponding to the segmented residual sequence is calculated based on the positivity of the mean of each segmented residual sequence. Furthermore, this embodiment calculates the maximum profile value {m1, m2, ..., m} corresponding to each segmented residual sequence in the residual arc segment of each satellite. l} Take the absolute value, and then analyze and judge it according to the following formula (7):

[0092] |m j |>50mm (7)

[0093] Where j is the segment residual sequence number within the arc segment, and 50 mm is the limit of multipath error. If this value is exceeded, the surface observation quality is severely impaired due to obstruction. If the above equation is satisfied, the segment is considered the target segment, and the satellite elevation and azimuth corresponding to each epoch within the segment are extracted.

[0094] In some embodiments of the present invention, the maximum contour value corresponding to each segmented residual sequence is calculated based on the positivity of the mean, including but not limited to:

[0095] When the mean is greater than or equal to zero, the maximum profile value is obtained by adding the preset times the standard deviation to the mean.

[0096] Alternatively, when the mean is less than zero, the maximum profile value is obtained by subtracting a preset times the standard deviation from the mean.

[0097] In this specific embodiment, this embodiment calculates the corresponding maximum profile value by the positivity of the mean. Specifically, when the mean is greater than or equal to zero, this embodiment adds the preset times the standard deviation to the mean to obtain the maximum profile value. At the same time, when the mean is less than zero, the preset times the standard deviation are subtracted from the mean to obtain the corresponding maximum profile value. Exemplarily, since 99.7% of the errors are contained within 3 times the standard deviation, the mean ± 3 times the standard deviation method can be used to screen out the larger residual part in each double-difference residual sequence. If the mean of the segmented residual sequence is greater than or equal to zero, the maximum profile value of the segmented residual sequence is the mean plus 3 times the standard deviation. If the mean of the segmented residual sequence is less than zero, the maximum profile value of the segmented residual sequence is the mean minus 3 times the standard deviation, as shown in the following formula (8):

[0098]

[0099] Where m is the maximum contour value.

[0100] In some embodiments of the present invention, constructing a satellite sky grid includes, but is not limited to:

[0101] Draw satellite sky maps based on polar coordinates.

[0102] The satellite sky map is divided into grids according to satellite altitude angles and azimuth angles at preset intervals to obtain a satellite sky map grid.

[0103] In this specific embodiment, a satellite sky map is first drawn according to a polar coordinate system, and then a grid is formed according to satellite elevation angles and azimuth angles at preset intervals to obtain a satellite sky map grid. Specifically, this embodiment first draws a satellite sky map in a polar coordinate system, and then, at the same time, a grid is formed according to satellite elevation angles and azimuth angles at preset intervals, such as 4 degrees × 4 degrees of satellite elevation angles and azimuth angles, to construct a satellite sky map grid.

[0104] In some embodiments of the present invention, the target segment sequence is mapped onto a satellite sky grid according to satellite altitude and azimuth angles to obtain a satellite sky map, including but not limited to:

[0105] The residual value of each epoch of each satellite in the target segmented sequence is plotted on the satellite sky map grid according to the satellite altitude angle and azimuth angle, and the grid where the target segmented sequence is plotted is marked to obtain the satellite sky map.

[0106] In this specific embodiment, the residual values ​​for each epoch of each satellite in the target segmented sequence are plotted on a satellite sky map grid according to the satellite elevation and azimuth angles. The grids where the target segmented sequence is plotted are marked, thereby constructing a satellite sky map. After plotting each sampling point of each target segmented sequence on the satellite sky map according to the satellite elevation and azimuth angles, the grids where the plotted sequence exists are marked. This allows for the determination of a satellite cutoff elevation angle that takes environmental impacts into account along the inner side of the satellite sky map.

[0107] An embodiment of the present invention further provides a system for determining a satellite system environment cutoff elevation angle, comprising:

[0108] The acquisition module is used to obtain observation files and broadcast ephemeris files.

[0109] The solution module is used to perform data solution based on the observation value file and the broadcast ephemeris file using the double-difference relative positioning algorithm to obtain the solution data. The solution data includes the double-difference residual sequence, elevation angle and azimuth angle of each satellite.

[0110] The segmentation module is used to perform preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence.

[0111] The calculation module is used to calculate the mean and standard deviation of each segment residual sequence.

[0112] The screening module is used to obtain the target segmented sequence by screening based on the mean and standard deviation through the preset standard deviation method.

[0113] Build module for constructing satellite sky grid.

[0114] The drawing module is used to draw the target segment sequence into the satellite sky map grid according to the satellite altitude angle and azimuth angle to obtain the satellite sky marking map.

[0115] The prediction module is used to predict the environmental cutoff altitude angle based on the satellite sky marking map.

[0116] Reference Figure 2 One embodiment of the present invention further provides a system for determining a satellite system environment cutoff elevation angle, comprising:

[0117] At least one processor 210 .

[0118] At least one memory 220 is configured to store at least one program.

[0119] When the at least one program is executed by the at least one processor 210, the at least one processor 210 implements the method for determining the satellite system environment cut-off altitude angle as described in the above embodiment.

[0120] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more control processors, for example, to execute the steps described in the above embodiment.

[0121] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0122] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for determining a satellite system environment cutoff elevation angle, characterized in that: The following steps are involved: Get observation files and broadcast ephemeris files; Performing data solution using a post-hoc double-difference relative positioning algorithm based on the observation value file and the broadcast ephemeris file to obtain solution data; wherein the solution data includes a double-difference residual sequence, an elevation angle, and an azimuth angle of each satellite; Performing preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence; Calculate the mean and standard deviation of the segmented residual sequence for each segment; A target segment sequence is obtained by screening using a preset standard deviation method according to the mean and the standard deviation; Constructing a satellite sky grid; Plotting the target segment sequence onto the satellite sky map grid according to satellite altitude angles and azimuth angles to obtain a satellite sky map; The environmental cutoff elevation angle is predicted based on the satellite sky map.

2. The method for determining the satellite system environment cut-off elevation angle according to claim 1, wherein: The performing data solution according to the observation value file and the broadcast ephemeris file by using a post-hoc double-difference relative positioning algorithm to obtain solution data includes: According to the carrier phase and pseudo-range observation values ​​of the reference station and the monitoring station, a double-difference observation function is constructed; Constructing a standard Kalman filter function according to the double difference observation function; Calculating the ambiguity standard deviation according to the standard Kalman filter function; Sorting according to a preset sorting method according to the ambiguity standard deviation to obtain a fixed ambiguity; The solution data is obtained by calculation based on the fixed ambiguity and the standard Kalman filter function.

3. The method for determining the satellite system environment cut-off elevation angle according to claim 1, wherein: The step of pre-segmenting the double-difference residual sequence to obtain a segmented residual sequence includes: The double-difference residual sequence is segmented according to a preset fixed number of epochs to obtain the segmented residual sequence.

4. The method for determining the satellite system environment cut-off elevation angle according to claim 1, wherein: The step of obtaining a target segment sequence by screening the mean and the standard deviation using a preset standard deviation method includes: Calculate the maximum contour value corresponding to each segment of the segmented residual sequence according to the positivity of the mean; The target segment sequence is obtained according to the absolute value of the maximum profile value and the preset multipath effect error value.

5. The method for determining the satellite system environment cut-off elevation angle according to claim 4, wherein: Calculating the maximum contour value corresponding to each segment of the segmented residual sequence according to the positivity of the mean value includes: When the mean is greater than or equal to zero, the maximum profile value is obtained by adding a preset times the standard deviation to the mean; Alternatively, when the mean is less than zero, the maximum profile value is obtained by subtracting the preset times the standard deviation from the mean.

6. The method for determining the satellite system environment cut-off elevation angle according to claim 1, wherein: The construction of the satellite sky grid comprises: Draw satellite sky maps based on polar coordinates; The satellite sky map is divided into grids according to satellite altitude angles and azimuth angles at preset intervals to obtain the satellite sky map grid.

7. The method for determining the satellite system environment cut-off elevation angle according to claim 6, wherein: The step of plotting the target segment sequence onto the satellite sky map grid according to the satellite altitude angle and azimuth angle to obtain a satellite sky map includes: The residual value of each epoch of each satellite in the target segmented sequence is plotted on the satellite sky map grid according to the satellite altitude angle and the azimuth angle, and the grid where the target segmented sequence is plotted is marked to obtain the satellite sky map.

8. A satellite system environment cut-off elevation angle determination system, characterized in that: include: Acquisition module, used to obtain observation value files and broadcast ephemeris files; A solution module is used to perform data solution based on the observation value file and the broadcast ephemeris file using a post-double-difference relative positioning algorithm to obtain solution data; wherein the solution data includes a double-difference residual sequence, an altitude angle, and an azimuth angle of each satellite; A segmentation module, configured to perform preset segmentation on the double-difference residual sequence to obtain a segmented residual sequence; A calculation module, used to calculate the mean and standard deviation of the segmented residual sequence of each segment; A screening module, configured to obtain a target segment sequence by screening the mean and the standard deviation using a preset standard deviation method; Construction module, used to build satellite sky grid; A plotting module is used to plot the target segment sequence onto the satellite sky map grid according to the satellite altitude angle and azimuth angle to obtain a satellite sky map; The prediction module is used to predict the environmental cutoff altitude angle according to the satellite sky marking image.

9. A satellite system environment cut-off elevation angle determination system, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method for determining the environmental cutoff altitude angle of a satellite system according to any one of claims 1 to 7.

10. A computer storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the method for determining the environmental cut-off elevation angle of a satellite system according to any one of claims 1 to 7 when executed by the processor.

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