Satellite timing method, device, terminal equipment and storage medium

Abstract

The embodiment of the present application discloses a satellite timing method, apparatus, terminal device and storage medium, wherein the terminal device is connected to a base station in communication, and the terminal device and the base station correspond to multiple co-viewing satellites, and the method comprises: determining the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple co-viewing satellites; judging whether each co-viewing satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple co-viewing satellites; determining the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite. Implementation of this embodiment can improve the timing accuracy of satellite timing.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a satellite timing method, device, terminal equipment and storage medium. Background Art

[0002] During the transmission of satellite signals, charged particles in the ionosphere can affect the propagation of electromagnetic waves, causing changes in the propagation speed and bending of the propagation path, thus causing ionospheric delay. The magnitude of ionospheric delay depends on the total electron content in the signal propagation path and the frequency of the signal. Like other electromagnetic waves, when navigation satellite signals pass through the ionosphere, they will also be affected by ionospheric delay. The satellite timing method based on the Global Navigation Satellite System (GNNS) is a widely used high-precision timing method. Ionospheric delay affects the timing accuracy of satellite timing, especially when the ionospheric activity is abnormal, the ionospheric delay will be greater, thereby further reducing the timing accuracy. Summary of the invention

[0003] The embodiments of the present application disclose a satellite timing method, apparatus, terminal equipment and storage medium, which can improve the timing accuracy of satellite timing.

[0004] The present application embodiment discloses a satellite timing method, which is applied to a terminal device, wherein the terminal device is in communication connection with a base station, and the terminal device and the base station correspond to multiple co-viewing satellites, and the method includes:

[0005] Determine a first ionospheric delay and a second ionospheric delay respectively corresponding to the multiple common-view satellites; wherein the first ionospheric delay is a delay in the ionosphere of a signal propagation path between the terminal device and the common-view satellite, and the second ionospheric delay is a delay in the ionosphere of a signal propagation path between the base station and the common-view satellite;

[0006] Determining whether each of the common-view satellites is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites;

[0007] The clock of the terminal device is determined based on first satellite data and second satellite data corresponding to the target satellite; wherein the first satellite data is satellite data of the global navigation satellite system acquired by the terminal device, and the second satellite data is satellite data of the global navigation satellite system acquired by the base station.

[0008] In one embodiment, the target common-view satellite is any common-view satellite among the multiple common-view satellites, the puncture point of the signal propagation path between the terminal device and the target common-view satellite in the ionosphere is a first ionosphere puncture point, the puncture point of the signal propagation path between the base station and the target common-view satellite in the ionosphere is a second ionosphere puncture point, the first ionosphere delay is a first ionosphere oblique path delay corresponding to the first ionosphere puncture point, and the second ionosphere delay is a second ionosphere oblique path delay corresponding to the second ionosphere puncture point;

[0009] The determining, according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the plurality of common-view satellites, whether each of the common-view satellites is a target satellite available for timing, comprises:

[0010] Calculate the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at a plurality of consecutive target moments to obtain delay differences corresponding to the plurality of target moments respectively;

[0011] Compare the delay difference values ​​corresponding to each of the target moments with a first target threshold value to obtain a first comparison result; the first target threshold value is a smaller value between a standard deviation of the delay differences corresponding to the multiple target moments and a preset delay difference threshold value;

[0012] Compare the delay difference corresponding to each of the target moments with the second target threshold value to obtain a second comparison result;

[0013] According to the first comparison result and the second comparison result, it is determined whether each of the co-viewing satellites is a target satellite available for timing.

[0014] In one embodiment, determining the first ionospheric delay and the second ionospheric delay respectively corresponding to the plurality of co-viewing satellites includes:

[0015] Receive first grid point information and second grid point information; wherein the first grid point information is information of four first grid points of the grid where the first ionospheric puncture point is located provided by a satellite-based augmentation system, and the second grid point information is information of four second grid points of the grid where the second ionospheric puncture point is located provided by the satellite-based augmentation system;

[0016] Determining the first ionospheric slant path delay according to the first grid point information and the first puncture point information of the first ionospheric puncture point;

[0017] The second ionospheric slant path delay is determined according to the second grid point information and the second puncture point information of the second ionospheric puncture point.

[0018] In one embodiment, the first grid point information includes grid point ionospheric vertical delay errors corresponding to the four first grid points respectively, and the second grid point information also includes grid point ionospheric vertical delay errors corresponding to the four second grid points respectively;

[0019] Before comparing the delay difference corresponding to each of the target moments with the second target threshold value to obtain a second comparison result, the method further includes:

[0020] Calculating the standard deviation of the grid point ionospheric vertical delay errors corresponding to the target grid points at the multiple target times; wherein the target grid point is any one of the four first grid points and the four second grid points;

[0021] Based on the weights corresponding to the four first grid points, weighted calculation is performed on the standard deviations of the ionospheric vertical delay errors of the grid points corresponding to the four first grid points, to obtain the first ionospheric vertical delay error standard deviation corresponding to the first ionospheric puncture point;

[0022] Determining a first ionospheric slant path error standard deviation according to the first ionospheric vertical delay error standard deviation and the tilt parameter;

[0023] Based on the weights corresponding to the four second grid points, respectively, weighted calculation is performed on the standard deviations of the ionospheric vertical delay errors of the grid points respectively corresponding to the four second grid points, to obtain the standard deviation of the second ionospheric vertical delay error corresponding to the second ionospheric puncture point;

[0024] Determining a second ionospheric slant path error standard deviation according to the second ionospheric vertical delay error standard deviation and the tilt parameter;

[0025] A second target threshold is determined based on the first ionospheric slant path error standard deviation, the second ionospheric slant path error standard deviation and a preset coefficient.

[0026] In one embodiment, the first grid point information includes the grid point ionospheric vertical delays corresponding to the four first grid points respectively, the second grid point information includes the grid point ionospheric vertical delays corresponding to the four second grid points respectively, the first puncture point information includes the longitude and latitude of the first ionospheric puncture point, and the second puncture point information includes the longitude and latitude of the second ionospheric puncture point;

[0027] The determining, according to the first grid point information and the first puncture point information of the first ionospheric puncture point, the first ionospheric slant path delay comprises:

[0028] Determining weights corresponding to the four first grid points respectively according to the longitude and latitude of the first ionospheric puncture point;

[0029] Based on the weights corresponding to the four first grid points, respectively, weighted calculation is performed on the grid point ionospheric vertical delays corresponding to the four first grid points, to obtain the first ionospheric vertical delay corresponding to the first ionospheric puncture point;

[0030] Determining the first ionospheric slant path delay according to the first ionospheric vertical delay and the tilt parameter;

[0031] The determining the second ionospheric slant path delay according to the second grid point information and the second puncture point information of the second ionospheric puncture point includes:

[0032] Determining weights corresponding to the four second grid points respectively according to the longitude and latitude of the second ionospheric puncture point;

[0033] Based on the weights corresponding to the four second grid points, respectively, weighted calculation is performed on the grid point ionospheric vertical delays corresponding to the four second grid points, to obtain the second ionospheric vertical delay corresponding to the second ionospheric puncture point;

[0034] The second ionospheric slant path delay is determined according to the second ionospheric vertical delay and the tilt parameter.

[0035] In one embodiment, determining the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite includes:

[0036] Determine an inter-station single difference between the terminal device and the base station based on first satellite data and second satellite data corresponding to the target satellite;

[0037] Determining a threshold value of the number of target satellites according to a displacement state of the terminal device;

[0038] If the number of the target satellite is less than the number threshold, the inter-station single difference is corrected according to the first ionospheric delay and the second ionospheric delay corresponding to the target satellite.

[0039] The clock of the terminal device is determined based on the inter-station single difference and the clock of the base station.

[0040] In one embodiment, the displacement state of the terminal device includes a stationary state or a moving state, and determining the number threshold of the target satellites according to the displacement state of the terminal device includes:

[0041] If the displacement state is the stationary state, a preset number threshold is used as the number threshold of the target satellites;

[0042] If the displacement state is the motion state, determining a quantity threshold according to a time measurement system to which a clock of the base station belongs and a global navigation satellite system to which the target satellite belongs;

[0043] The quantity threshold determined when the displacement state is the motion state is greater than the quantity threshold determined when the displacement state is the static state.

[0044] The embodiment of the present application discloses a satellite timing device, which is applied to a terminal device, wherein the terminal device is connected to a base station for communication, and the terminal device and the base station correspond to a plurality of co-viewing satellites, and the device comprises:

[0045] A delay determination module, used to determine a first ionospheric delay and a second ionospheric delay respectively corresponding to the multiple common-view satellites; wherein the first ionospheric delay is a delay in the ionosphere of a signal propagation path between the terminal device and the common-view satellite, and the second ionospheric delay is a delay in the ionosphere of a signal propagation path between the base station and the common-view satellite;

[0046] A satellite judgment module, configured to judge whether each of the common-view satellites is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites;

[0047] A clock determination module is used to determine the clock of the terminal device based on first satellite data and second satellite data corresponding to the target satellite; wherein the first satellite data is satellite data of the global navigation satellite system acquired by the terminal device, and the second satellite data is satellite data of the global navigation satellite system acquired by the base station.

[0048] The present application discloses a terminal device, including:

[0049] A memory storing executable program code;

[0050] a processor coupled to the memory;

[0051] The processor calls the executable program code stored in the memory to execute the method described in any one of the above embodiments.

[0052] An embodiment of the present application discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the processor executes the method described in any one of the above embodiments.

[0053] Through the satellite timing method, apparatus, terminal device and storage medium disclosed in the embodiments of the present application, the terminal device is communicatively connected to the base station, and the terminal device and the base station correspond to multiple common-view satellites. The terminal device can determine the first ionospheric delay and the second ionospheric delay corresponding to the multiple common-view satellites, and then judge whether each common-view satellite is a target satellite available for timing based on the first ionospheric delay and the second ionospheric delay corresponding to the multiple common-view satellites. Finally, based on the first satellite data and the second satellite data corresponding to the target satellite, the clock of the terminal device is determined, and the ionospheric delay corresponding to each common-view satellite is used to determine whether each common-view satellite can be used for timing, so that the corresponding satellite with abnormal ionospheric activity can be prevented from timing the terminal device, thereby improving the timing accuracy of satellite timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 This is a schematic diagram of an application scenario of a satellite timing method disclosed in an embodiment of the present application;

[0056] Figure 2 It is a flowchart of a satellite timing method disclosed in an embodiment of the present application;

[0057] Figure 3 It is a flowchart of another satellite timing method disclosed in an embodiment of the present application;

[0058] Figure 4 is a schematic diagram of an ionospheric grid point and an ionospheric puncture point disclosed in an embodiment of the present application;

[0059] Figure 5 is a schematic diagram of a process for determining a second target threshold value disclosed in an embodiment of the present application;

[0060] Figure 6 It is a modular schematic diagram of a satellite timing device disclosed in an embodiment of the present application;

[0061] Figure 7 It is a structural block diagram of a terminal device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] It should be noted that the terms "including" and "having" in the embodiments of the present application and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] It is understood that the terms "first", "second", etc. used in the present application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of the present application, a first ionospheric delay may be referred to as a second ionospheric delay, and similarly, a second ionospheric delay may be referred to as a first ionospheric delay. Both the first ionospheric delay and the second ionospheric delay are ionospheric delays, but they are not the same ionospheric delay.

[0065] In the related art, ranging is completed by measuring the time difference between the GNSS satellite and the terminal device, thereby realizing positioning and navigation services. At the same time, the difference between the terminal device clock and the GNSS system time can be obtained synchronously, thereby realizing the time synchronization between the user receiver and the GNSS system time.

[0066] There are currently a variety of timing technologies based on GNSS differentials, such as PPP (precise point positioning) timing technology, which can provide global users with timing services of equal accuracy by broadcasting the same set of parameters. However, PPP services require the calculation of high-precision correction parameters such as satellite orbits, clock errors, and atmospheric delays. The system server algorithm is complex, and the time obtained through PPP services is synchronized with the time system used by the server to calculate the correction data, so the accuracy is limited to a certain extent.

[0067] Another example is the timing technology based on real-time dynamic positioning. It can use the base station on the ground to provide accurate observation data to nearby terminal devices to eliminate errors such as satellite orbit, clock error, ionospheric delay, etc., and by setting up high-precision time and frequency synchronization equipment at the base station, it can effectively synchronize with the standard time of Coordinated Universal Time (UTC), thereby improving the accuracy of time synchronization. However, the timing technology based on real-time dynamic positioning is easily disturbed by abnormal activities in the ionosphere, and the ionospheric delay cannot be accurately eliminated. Reducing the impact of abnormal ionospheric activities on timing accuracy is of great significance to further promote satellite timing technology.

[0068] The embodiments of the present application disclose a satellite timing method, apparatus, terminal equipment and storage medium, which can improve the timing accuracy of satellite timing.

[0069] The following is a detailed description with reference to the accompanying drawings.

[0070] like Figure 1 As shown, Figure 1 1 is a schematic diagram of an application scenario of a satellite timing method disclosed in an embodiment of the present application, the application scenario includes a terminal device 10, a base station 20 and a plurality of co-viewing satellites 30, the terminal device 10 may include but is not limited to a mobile phone, a tablet computer, a wearable device, a notebook computer, a PC (Personal Computer), etc. In addition, the operating system of the above-mentioned terminal device 10 may include but is not limited to an Android operating system, an IOS operating system, a Symbian operating system, a Black Berry operating system, a Windows Phone 8 operating system, etc., which are not limited in the embodiment of the present application. The co-viewing satellite 30 may be a satellite in a global navigation satellite system.

[0071] The terminal device 10 may be connected to the base station 20 for communication, and the terminal device 10 and the base station 20 may correspond to a plurality of co-viewing satellites 30. It should be noted that the embodiment of the present application does not limit the number of co-viewing satellites 30. Figure 1This is only an example, and the number of common view satellites 30 cannot be limited to 1. The terminal device 10 can determine the first ionospheric delay and the second ionospheric delay corresponding to the multiple common view satellites 30, wherein the first ionospheric delay is the delay of the signal propagation path between the terminal device 10 and the common view satellite 30 in the ionosphere, and the second ionospheric delay is the delay of the signal propagation path between the base station 20 and the common view satellite 30 in the ionosphere. The terminal device 10 then determines whether each common view satellite 30 is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay corresponding to the multiple common view satellites 30, and determines the clock of the terminal device 10 based on the first satellite data and the second satellite data corresponding to the target satellite, wherein the first satellite data is the satellite data of the global navigation satellite system acquired by the terminal device 10, and the second satellite data is the satellite data of the global navigation satellite system acquired by the base station 20.

[0072] like Figure 2 As shown, Figure 2 The following is a flow chart of a satellite timing method disclosed in an embodiment of the present application. The satellite timing method can be applied to the terminal device in the above embodiment. The satellite timing method may include the following steps:

[0073] Step 210: determine the first ionospheric delay and the second ionospheric delay corresponding to the plurality of co-viewing satellites.

[0074] The terminal device may determine the first ionospheric delay and the second ionospheric delay respectively corresponding to a plurality of common-view satellites, and the common-view satellite may be a satellite observable by both the terminal device and the base station, and the common-view satellite may be a satellite in the GNNS. Optionally, the terminal device may compare the first GNNS satellite observable by the terminal device with the second GNSS satellite observable by the base station, and use the same satellite between the first satellite and the second satellite as a common-view satellite.

[0075] The first ionospheric delay is the delay of the signal propagation path between the terminal device and the co-viewing satellite in the ionosphere, and the second ionospheric delay is the delay of the signal propagation path between the base station and the co-viewing satellite in the ionosphere. It can be understood that the signal between a certain co-viewing satellite and the terminal device can be propagated on the first signal propagation path, and the signal between the certain co-viewing satellite and the base station can be propagated on the second signal propagation path, and the first signal propagation path and the second signal propagation path are different propagation paths.

[0076] Step 220: judging whether each common-view satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the plurality of common-view satellites.

[0077] Since the terminal device and the base station are communicatively connected, the terminal device and the base station are usually at a relatively close distance. Therefore, the ionospheric region corresponding to the signal propagation path corresponding to the terminal device and the ionospheric region corresponding to the signal propagation path corresponding to the base station can usually be the same ionospheric region. That is to say, when there is no abnormal activity in the ionosphere, the difference between the first ionospheric delay and the second ionospheric delay corresponding to each common-view satellite is within an error range. Only when abnormal activity occurs in the ionosphere, such as an ionospheric storm, even if the terminal device and the base station are usually at a relatively close distance, the first ionospheric delay and the second ionospheric delay corresponding to each common-view satellite can be uncorrelated.

[0078] The terminal device can determine whether each co-viewing satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay corresponding to the multiple co-viewing satellites. The terminal device can calculate the difference between the first ionospheric delay and the second ionospheric delay, and determine whether it is a target satellite available for timing according to the difference. Optionally, for any satellite among the multiple co-viewing satellites, the terminal device can also determine the difference between the first ionospheric delay and the second ionospheric delay at multiple consecutive moments to improve the accuracy of determining the target satellite.

[0079] Step 230: Determine the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite.

[0080] The terminal device can determine the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite, wherein the first satellite data is the satellite data of the global navigation satellite system acquired by the terminal device, and the second satellite data is the satellite data of the global navigation satellite system acquired by the base station, and the satellite data may include the measured code pseudorange and carrier phase.

[0081] It should be noted that the code pseudorange and carrier phase are actually obtained based on the geometric distance, satellite clock error, true ionospheric delay, tropospheric delay error, ranging noise and integer ambiguity error. The true ionospheric delay is different from the ionospheric delay determined in step 210. The ionospheric delay determined in step 210 is calculated by this scheme, while the true ionospheric delay is the true ionospheric delay. That is to say, the satellite data observed by the terminal device or base station is actually composed of geometric distance, terminal device clock error or base station clock error, satellite clock error, true ionospheric delay, tropospheric delay error, ranging noise and integer ambiguity error. Specifically, taking the terminal device as an example, the code pseudorange can be obtained as shown in formula (1), and the carrier phase can be obtained as shown in formula (2).

[0082] P=R+c·(T 2 -T 1)+Iono+Trop+ε Formula (1);

[0083] L=R+c·(T 2 -T 1 )-Iono+Trop+N·λ+ε Formula (2);

[0084] In equations (1) and (2), P is the code pseudorange of the terminal device, L is the carrier phase of the terminal device, R is the geometric distance between the terminal device and the satellite, and T 2 is the terminal equipment clock error, T 1 is the satellite clock error, Iono is the real ionospheric delay, Trop is the tropospheric delay, ε is the ranging noise, and N·λ is the integer ambiguity error. The terminal device can directly measure P and L, but cannot directly measure the real ionospheric delay, tropospheric delay, etc. The embodiment of the present application lists equations (1) and (2) only to illustrate that the measured code pseudorange and carrier phase include ionospheric delay.

[0085] In one embodiment, the terminal device can determine the inter-station single difference between the terminal device and the base station based on the first satellite data and the second satellite data corresponding to the target satellite, and determine the number threshold of the target satellites according to the displacement state of the terminal device. If the number of target satellites is less than the number threshold, the inter-station single difference is corrected according to the first ionospheric delay and the second ionospheric delay corresponding to the target satellite, and the clock of the terminal device is determined according to the inter-station single difference and the clock of the base station.

[0086] Among them, the inter-station single difference between the terminal device and the base station may include a code pseudorange single difference and a carrier phase single difference. Optionally, the terminal device may determine the code pseudorange and carrier phase corresponding to the target satellite based on the first satellite data and the second satellite data corresponding to the target satellite, the code pseudorange may include the first code pseudorange of the terminal device and the second code pseudorange of the base station, the carrier phase may include the first carrier phase of the terminal device and the second carrier phase of the base station, the terminal device may determine the code pseudorange single difference between the terminal device and the base station according to the first code pseudorange and the second code pseudorange, and may determine the carrier phase single difference between the terminal device and the base station according to the first carrier phase and the second carrier phase.

[0087] In an embodiment of the present application, a terminal device is communicatively connected with a base station. The terminal device and the base station correspond to multiple common-view satellites. The terminal device can determine the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites, and then judge whether each common-view satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites. Finally, based on the first satellite data and the second satellite data corresponding to the target satellite, the clock of the terminal device is determined. The ionospheric delay corresponding to each common-view satellite determines whether each common-view satellite can be used for timing. This can prevent the corresponding satellite with abnormal ionospheric activity from providing timing to the terminal device, thereby improving the timing accuracy of satellite timing.

[0088] like Figure 3 As shown, Figure 3 1 is a flow chart of another satellite timing method disclosed in an embodiment of the present application. The satellite timing method can be applied to the terminal device in the above embodiment. The satellite timing method may include the following steps:

[0089] Step 310, receiving first grid point information and second grid point information.

[0090] The terminal device can also communicate with the satellite of the Satellite Based Augmentation System (SBAS) and receive the ionospheric grid point information transmitted by the SBAS. The terminal device can receive the first grid point information and the second grid point information, wherein the first grid point information is the information of the four first grid points of the grid where the first ionospheric puncture point provided by the satellite-based augmentation system is located, and the second grid point information is the information of the four second grid points of the grid where the second ionospheric puncture point provided by the satellite-based augmentation system is located, and the grid point refers to the ionospheric grid point, and the puncture point of the signal propagation path between the terminal device and the target common-view satellite in the ionosphere is the first ionospheric puncture point, and the puncture point of the signal propagation path between the base station and the target common-view satellite in the ionosphere is the second ionospheric puncture point, and the target common-view satellite is any common-view satellite among multiple common-view satellites.

[0091] Optionally, the first grid point information received by the terminal device is sent by a satellite of a satellite-based augmentation system to the terminal device, and the second grid point information received by the terminal device is sent by a satellite of a satellite-based augmentation system to a base station, and then sent by the base station to the terminal device. The first grid point information may include grid point ionospheric vertical delays corresponding to four first grid points, and the second grid point information may include grid point ionospheric vertical delays corresponding to four second grid points.

[0092] Step 320, determining the first ionospheric slant path delay according to the first grid point information and the first puncture point information of the first ionospheric puncture point.

[0093] The terminal device can determine the first ionospheric delay based on the first grid point information and the first puncture point information of the first ionospheric puncture point, where the first ionospheric delay is the first ionospheric oblique path delay corresponding to the first ionospheric puncture point. The first puncture point information includes the longitude and latitude of the first ionospheric puncture point. That is, the terminal device can determine the first ionospheric oblique path delay corresponding to the first ionospheric puncture point based on the grid point ionospheric vertical delays corresponding to the four first grid points and the longitude and latitude of the first ionospheric puncture point.

[0094] Optionally, the terminal device may also determine whether the grid point information of each grid point is available according to the grid point ionospheric vertical delay error index (Grid Ionospheric Vertical Error Indicator, GIVEI) corresponding to each grid point. The terminal device may compare the grid point ionospheric vertical delay error index with the index threshold. If the grid point ionospheric vertical delay error index is less than the index threshold, it indicates that the grid point information is available. If the grid point ionospheric vertical delay error index is not less than the index threshold, it indicates that the grid point information is unavailable. For example, the index threshold may be 12.

[0095] In one embodiment, the terminal device can determine the weights corresponding to the four first grid points according to the longitude and latitude of the first ionosphere piercing point, perform weighted calculation on the grid point ionosphere vertical delays corresponding to the four first grid points based on the weights corresponding to the four first grid points, and obtain the first ionosphere vertical delay corresponding to the first ionosphere piercing point, and determine the first ionosphere slant path delay according to the first ionosphere vertical delay and the tilt parameter.

[0096] Optionally, for a signal of a certain frequency, the terminal device may calculate the distance weight between the first ionosphere piercing point and each grid point based on the longitude and latitude of the first ionosphere piercing point and the longitude and latitude of the four grid points. The distance weight may include a first direction distance weight and a second direction distance weight. The weights corresponding to the four first grid points are then determined based on the distance weight. Specifically, the terminal device may calculate the distance weight using the following formula (3). The terminal device may calculate the weights corresponding to the four first grid points using formula (4).

[0097]

[0098] w 1 =x pp y pp , w 2 =(1-x pp )y pp ,

[0099] w 3 =(1-x pp )(1-y pp ), w 3 =x pp (1-y pp ) Formula (4);

[0100] In equations (3) and (4), x pp is the first direction distance weight in the distance weight, y pp is the second direction distance weight in the distance weight, λ pp is the longitude of the first ionospheric puncture point, λ 1 is the minimum longitude among the four first grid points, λ 2 is the maximum longitude among the four first grid points, φ pp is the latitude of the first ionospheric puncture point, φ 1 is the minimum latitude among the four first grid points, φ 2 is the maximum latitude among the four first grid points, w 1 is the weight corresponding to the first grid point among the four first grid points whose longitude and latitude are not greater than the first ionospheric puncture point, w 2 is the weight corresponding to the first grid point among the four first grid points whose longitude is not less than the first ionospheric puncture point and whose latitude is not greater than the first ionospheric puncture point, w 3 is the weight corresponding to the first grid point among the four first grid points whose longitude and latitude are not less than the first ionospheric puncture point, w 4 It is the weight corresponding to the first grid point among the four first grid points whose longitude is not greater than the first ionosphere piercing point and whose latitude is not less than the first ionosphere piercing point.

[0101] like Figure 4 As shown, Figure 4 Schematic diagram of an ionospheric grid point and an ionospheric puncture point disclosed in an embodiment of the present application. The first ionospheric puncture point IPP is in a grid composed of four first grid points IGP1, IGP2, IGP3 and IGP4. The longitude and latitude of IPP are (λ pp ,φ pp ), the latitude and longitude of IGP1 is (λ 1 ,φ 1 ), the latitude and longitude of IGP2 is (λ 1 ,φ 2 ), the latitude and longitude of IGP3 is (λ 2 ,φ 2 ), the latitude and longitude of IGP4 is (λ 2 ,φ 1 ), the weight corresponding to IGP1 is w 1 , the weight corresponding to IGP2 is w 2, the weight corresponding to IGP3 is w 3 , the weight corresponding to IGP4 is w 4 .

[0102] The terminal device can also calculate the first ionospheric vertical delay corresponding to the first ionospheric piercing point according to formula (5), and calculate the first ionospheric oblique path delay corresponding to the first ionospheric piercing point according to formula (6).

[0103]

[0104] IC=-F pp τ vpp Formula (6);

[0105] Among them, τ vpp is the first ionospheric vertical delay corresponding to the first ionospheric puncture point, τ vk is the ionospheric vertical delay of each grid point corresponding to the first grid point, IC is the first ionospheric oblique path delay corresponding to the first ionospheric puncture point, and F pp is the tilt parameter. The terminal device may determine the tilt parameter according to the radius of the earth, the height of the ionosphere, and the elevation angle of the target satellite. For example, the radius of the earth may be 6378.1636 km (kilometer) and the height of the ionosphere may be 350 km. Specifically, the terminal device may calculate the tilt parameter according to formula (7).

[0106]

[0107] Among them, R e is the radius of the earth, θ is the elevation angle of the target satellite, h I is the ionosphere altitude.

[0108] Step 330, determining the second ionospheric slant path delay according to the second grid point information and the second puncture point information of the second ionospheric puncture point.

[0109] The terminal device can determine the second ionospheric delay based on the second grid point information and the second puncture point information of the second ionospheric puncture point, and the second ionospheric delay is the second ionospheric oblique path delay corresponding to the second ionospheric puncture point. Among them, the second puncture point information includes the longitude and latitude of the second ionospheric puncture point. That is, the terminal device can determine the second ionospheric oblique path delay corresponding to the second ionospheric puncture point based on the grid point ionospheric vertical delays corresponding to the four second grid points and the longitude and latitude of the second ionospheric puncture point.

[0110] The method for the terminal device to determine the second ionospheric slant path delay is the same as the method for the terminal device to determine the first ionospheric slant path delay in step 330, which will not be repeated here.

[0111] Step 340, calculate the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at multiple consecutive target moments, and obtain the delay differences corresponding to the multiple target moments.

[0112] The terminal device can calculate the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at multiple consecutive target moments to obtain the delay difference corresponding to the multiple target moments. The multiple consecutive target moments can determine the difference between the first ionospheric slant path delay and the second ionospheric slant path delay once every 10 seconds. Optionally, the terminal device can subtract the smaller value from the larger value of the first ionospheric slant path delay and the second ionospheric slant path delay to obtain the difference. Alternatively, the terminal device can also subtract the second ionospheric slant path delay from the first ionospheric slant path delay, and then take the absolute value of the difference calculated by subtraction to obtain the difference.

[0113] Step 350: Compare the delay difference corresponding to each target time with the first target threshold value to obtain a first comparison result.

[0114] The first target threshold is the smaller value between the standard deviation of the delay differences corresponding to the multiple target moments and the pre-set delay difference threshold. For example, the pre-set delay difference threshold may be 1m (meter), and the terminal device may compare the standard deviation of the delay differences corresponding to the multiple target moments with the pre-set delay difference threshold, that is, with 1m, to determine the smaller value.

[0115] Step 360: Compare the delay difference corresponding to each target time with the second target threshold value to obtain a second comparison result.

[0116] The second target threshold may be manually input, or may be determined by the terminal device according to the first grid point information and the second grid point information.

[0117] Step 370: Determine whether each common-view satellite is a target satellite available for timing according to the first comparison result and the second comparison result.

[0118] The terminal device can determine whether each common-view satellite is a target satellite available for timing according to the first comparison result and the second comparison result. If the first comparison result is that the delay difference corresponding to each target time is less than the first comparison result, and the second comparison result is that the delay difference corresponding to each target time is less than the second comparison result, then the corresponding common-view satellite is a target satellite available for timing, and if the first comparison result is that the delay difference corresponding to any target time is not less than the first comparison result, or the second comparison result is that the delay difference corresponding to any target time is not less than the first comparison result, then the corresponding common-view satellite is a satellite unavailable for timing.

[0119] Step 380: Determine the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite.

[0120] In one embodiment, the terminal device can determine the inter-station single difference between the terminal device and the base station based on the first satellite data and the second satellite data corresponding to the target satellite, and determine the number threshold of the target satellites according to the displacement state of the terminal device. If the number of target satellites is less than the number threshold, the inter-station single difference is corrected according to the first ionospheric slant path delay and the second ionospheric slant path delay corresponding to the target satellite, and the clock of the terminal device is determined according to the inter-station single difference and the clock of the base station.

[0121] Among them, the step of determining the inter-station single difference between the terminal device and the base station based on the first satellite data and the second satellite data corresponding to the target satellite has been explained in the above step 230 and will not be repeated here. When the number of satellites of the target satellite is less than the number threshold, the terminal device can correct the inter-station single difference according to the first ionospheric slant path delay and the second ionospheric slant path delay corresponding to the target satellite. Optionally, the terminal device can subtract the correction value from the inter-station single difference to obtain a new inter-station single difference, which is the difference between the first ionospheric slant path delay and the second ionospheric slant path delay. The terminal device can also determine the clock of the terminal device based on the inter-station single difference and the clock of the base station.

[0122] Specifically, when the number of target satellites is less than the number threshold, the terminal device can calculate the code pseudorange single difference through formula (8) and calculate the carrier phase single difference through formula (9).

[0123] ΔP=(P ref -P user )-(IC ref -IC user ) Formula (8);

[0124] ΔL=(L ref -L user )+(IC ref -IC user ) Formula (9);

[0125] Among them, ΔP is the corrected code pseudorange single difference, ΔL is the corrected carrier phase single difference, P ref is the code pseudorange in the satellite data observed by the base station, P user is the code pseudorange in the satellite data observed by the terminal device, (P ref -P user ) is the code pseudorange single difference before correction, L ref is the carrier phase in the satellite data observed by the base station, L useris the carrier phase of the satellite data observed by the terminal device, (L ref -L user ) is the carrier phase single difference before correction, IC ref is the first ionospheric slant path delay corresponding to the first ionospheric puncture point, IC user is the second ionospheric slant path delay corresponding to the second ionospheric piercing point.

[0126] As an optional implementation, the displacement state of the terminal device may include a stationary state or a moving state. If the displacement state is a stationary state, the terminal device uses a preset number threshold as the number threshold of the target satellite. If the displacement state is a moving state, the terminal device determines the number threshold according to the time measurement system to which the base station clock belongs and the global navigation satellite system to which the target satellite belongs. The implementation of this implementation can meet the high-precision real-time timing needs of static and dynamic users, and to a certain extent expand the service scope of the base station timing.

[0127] The quantity threshold determined when the displacement state is a moving state is greater than the quantity threshold determined when the displacement state is a stationary state. When the displacement state is a stationary state, the preset quantity threshold selected by the terminal device may be a preset first quantity threshold. When the displacement state is a moving state, the terminal device may determine whether the time measurement system to which the clock of the base station belongs is a coordinated universal time system. If so, the preset second quantity threshold may be used as the quantity threshold of the target satellites. For example, the preset first quantity threshold may be 1, and the preset second quantity threshold may be 4. If not, the preset third quantity threshold may be added to the number of types of the global navigation satellite system to which the target satellite belongs to obtain the number threshold of the target satellites. The global navigation satellite system may include the global positioning system (GPS), the global navigation satellite system (GLONASS), the BeiDou navigation satellite system (BDS) and the Galileo navigation satellite system (Galileo). For example, the target satellites include satellites belonging to the BeiDou satellite navigation system and satellites belonging to the global positioning system, then the number of types is 2. If the preset third quantity threshold is 3, then the number threshold of the target satellites is 5.

[0128] In an embodiment of the present application, the terminal device receives the first grid point information and the second grid point information, determines the first ionospheric slant path delay according to the first grid point information and the first puncture point information of the first ionospheric puncture point, and determines the second ionospheric slant path delay according to the second grid point information and the second puncture point information of the second ionospheric puncture point, and then calculates the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at multiple consecutive target moments to obtain the delay difference corresponding to the multiple target moments, and obtains the first comparison result by comparing the delay difference corresponding to each target moment with the first target threshold value, and obtains the second comparison result by comparing the delay difference corresponding to each target moment with the second target threshold value, and further determines whether each common view satellite is a target satellite available for timing according to the first comparison result and the second comparison result, and finally determines the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite, and improves the accuracy of determining the target satellite through the method for determining the target satellite in the embodiment, thereby further improving the timing accuracy of the timing method.

[0129] like Figure 5 As shown, Figure 5 : is a flow chart of determining a second target threshold value disclosed in an embodiment of the present application. The method for determining the second target threshold value can be applied to the terminal device in the above embodiment. The method for determining the second target threshold value can include the following steps:

[0130] Step 510, calculating the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the target grid points at multiple target times.

[0131] Among them, the target grid point is any grid point among the four first grid points and the four second grid points, the first grid point information also includes the grid point ionospheric vertical delay errors corresponding to the four first grid points, and the second grid point information also includes the grid point ionospheric vertical delay errors corresponding to the four second grid points. The terminal device can determine the multiple grid point ionospheric vertical delay errors corresponding to the target grid point at multiple consecutive target moments, and then calculate the grid point standard deviation of the ionospheric vertical delay errors of the multiple grid points. After calculating each of the four first grid points and the four second grid points, the terminal device can obtain the standard deviation of the grid point ionospheric vertical delay errors corresponding to the four first grid points and the four second grid points.

[0132] Step 520, based on the weights corresponding to the four first grid points, weighted calculation is performed on the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the four first grid points, to obtain the first ionospheric vertical delay error standard deviation corresponding to the first ionospheric puncture point.

[0133] The method for determining the weights corresponding to the four first grid points has been described in the above embodiment and will not be described in detail herein.

[0134] Step 530, determining the first ionospheric slant path error standard deviation based on the first ionospheric vertical delay error standard deviation and the tilt parameter.

[0135] The method for determining the tilt parameter has been described in the above embodiment and will not be described in detail. Specifically, the terminal device can use formula (10) to calculate the standard deviation of the first ionospheric slant path error.

[0136]

[0137] Among them, σ UIRE is the standard deviation of the first ionospheric slant path error at the first ionospheric puncture point, σ GIVE,k is the standard deviation of the ionospheric vertical delay error of each grid point corresponding to the first grid point, w k is the weight corresponding to each first grid point, F pp is the tilt parameter.

[0138] Step 540, based on the weights corresponding to the four second grid points, weighted calculation is performed on the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the four second grid points, to obtain the standard deviation of the second ionospheric vertical delay error corresponding to the second ionospheric puncture point.

[0139] Step 550, determining the second ionospheric slant path error standard deviation based on the second ionospheric vertical delay error standard deviation and the tilt parameter.

[0140] The method of steps 540-550 is similar to the method of steps 520-530, and will not be described in detail here. It should be noted that there is no order between steps 540-550 and steps 520-530, and the terminal device can execute steps 520-530 first, or execute steps 540-550 first, or execute steps 540-550 and steps 520-530 at the same time, and there is no limitation on this.

[0141] Step 560, determining a second target threshold value based on the first ionospheric slant path error standard deviation, the second ionospheric slant path error standard deviation and a preset coefficient.

[0142] Optionally, the terminal device may perform a square root operation on the sum of the squares of the first ionospheric slant path error standard deviation and the second ionospheric slant path error standard deviation, and then multiply the result by a preset coefficient to determine the second target threshold. The preset coefficient may be a detection threshold coefficient, and a typical value is 3.29.

[0143] In an embodiment of the present application, the terminal device can calculate the standard deviation of the ionospheric vertical delay errors of the grid points corresponding to the four first grid points and the four second grid points at multiple target times, and then calculate the standard deviation of the first ionospheric slant path error corresponding to the first ionospheric piercing point and the standard deviation of the second ionospheric slant path error corresponding to the second ionospheric piercing point, and then determine the second target threshold based on the first ionospheric slant path error standard deviation, the second ionospheric slant path error standard deviation and a preset coefficient. The target satellite can be determined by screening the second target threshold, thereby improving the timing accuracy of satellite timing.

[0144] like Figure 6 As shown, Figure 6 6 is a modular schematic diagram of a satellite timing device disclosed in an embodiment of the present application. The satellite timing device may include a delay determination module 610, a satellite judgment module 620, and a clock determination module 630, wherein:

[0145] The delay determination module 610 is used to determine the first ionospheric delay and the second ionospheric delay corresponding to the multiple common-view satellites respectively; wherein the first ionospheric delay is the delay of the signal propagation path between the terminal device and the common-view satellite in the ionosphere, and the second ionospheric delay is the delay of the signal propagation path between the base station and the common-view satellite in the ionosphere;

[0146] The satellite judgment module 620 is used to judge whether each common-view satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites;

[0147] The clock determination module 630 is used to determine the clock of the terminal device based on the first satellite data and the second satellite data corresponding to the target satellite; wherein the first satellite data is the satellite data of the global navigation satellite system acquired by the terminal device, and the second satellite data is the satellite data of the global navigation satellite system acquired by the base station.

[0148] In one embodiment, the target co-view satellite is any co-view satellite among multiple co-view satellites, the puncture point of the signal propagation path between the terminal device and the target co-view satellite in the ionosphere is a first ionosphere puncture point, the puncture point of the signal propagation path between the base station and the target co-view satellite in the ionosphere is a second ionosphere puncture point, the first ionosphere delay is a first ionosphere slant path delay corresponding to the first ionosphere puncture point, and the second ionosphere delay is a second ionosphere slant path delay corresponding to the second ionosphere puncture point.

[0149] The satellite judgment module 620 is also used to calculate the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at multiple consecutive target moments to obtain the delay difference corresponding to the multiple target moments; compare the delay difference corresponding to each target moment with the first target threshold to obtain a first comparison result; the first target threshold is the smaller value of the standard deviation of the delay difference corresponding to the multiple target moments and a pre-set delay difference threshold; compare the delay difference corresponding to each target moment with the second target threshold to obtain a second comparison result; and determine whether each common view satellite is a target satellite available for timing according to the first comparison result and the second comparison result.

[0150] In one embodiment, the delay determination module 610 is further used to receive first grid point information and second grid point information; wherein the first grid point information is information of four first grid points of the grid where the first ionosphere piercing point provided by the satellite-based augmentation system is located, and the second grid point information is information of four second grid points of the grid where the second ionosphere piercing point provided by the satellite-based augmentation system is located; the first ionosphere slant path delay is determined according to the first grid point information and the first piercing point information of the first ionosphere piercing point; the second ionosphere slant path delay is determined according to the second grid point information and the second piercing point information of the second ionosphere piercing point.

[0151] In one embodiment, the first grid point information includes grid point ionospheric vertical delay errors corresponding to four first grid points respectively, and the second grid point information also includes grid point ionospheric vertical delay errors corresponding to four second grid points respectively.

[0152] The satellite judgment module 620 is also used to calculate the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the target grid points at multiple target times; wherein the target grid point is any one of the four first grid points and the four second grid points; based on the weights corresponding to the four first grid points, the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the four first grid points is weightedly calculated to obtain the first ionospheric vertical delay error standard deviation corresponding to the first ionospheric puncture point; according to the first ionospheric vertical delay error standard deviation and the tilt parameter, the first ionospheric slant path error standard deviation is determined; based on the weights corresponding to the four second grid points, the standard deviation of the ionospheric vertical delay error of the grid points corresponding to the four second grid points is weightedly calculated to obtain the second ionospheric vertical delay error standard deviation corresponding to the second ionospheric puncture point; according to the second ionospheric vertical delay error standard deviation and the tilt parameter, the second ionospheric slant path error standard deviation is determined; according to the first ionospheric slant path error standard deviation, the second ionospheric slant path error standard deviation and the preset coefficient, the second target threshold is determined.

[0153] In one embodiment, the first grid point information includes the grid point ionospheric vertical delays corresponding to the four first grid points, the second grid point information includes the grid point ionospheric vertical delays corresponding to the four second grid points, the first puncture point information includes the longitude and latitude of the first ionospheric puncture point, and the second puncture point information includes the longitude and latitude of the second ionospheric puncture point.

[0154] The delay determination module 610 is further used to determine the weights corresponding to the four first grid points respectively according to the longitude and latitude of the first ionosphere piercing point; based on the weights corresponding to the four first grid points respectively, perform weighted calculation on the grid point ionosphere vertical delays corresponding to the four first grid points respectively to obtain the first ionosphere vertical delay corresponding to the first ionosphere piercing point; determine the first ionosphere slant path delay according to the first ionosphere vertical delay and the tilt parameter.

[0155] The delay determination module 610 is further used to determine the weights corresponding to the four second grid points respectively according to the longitude and latitude of the second ionosphere piercing point; based on the weights corresponding to the four second grid points respectively, perform weighted calculation on the grid point ionosphere vertical delays corresponding to the four second grid points respectively to obtain the second ionosphere vertical delay corresponding to the second ionosphere piercing point; determine the second ionosphere slant path delay according to the second ionosphere vertical delay and the tilt parameter.

[0156] In one embodiment, the clock determination module 630 is further used to determine the inter-station single difference between the terminal device and the base station based on the first satellite data and the second satellite data corresponding to the target satellite; determine the number threshold of the target satellites according to the displacement state of the terminal device; if the number of target satellites is less than the number threshold, correct the inter-station single difference according to the first ionospheric delay and the second ionospheric delay corresponding to the target satellite, and determine the clock of the terminal device according to the inter-station single difference and the clock of the base station.

[0157] In one embodiment, the displacement state of the terminal device includes a stationary state or a moving state, and the clock determination module 630 is further used to use a preset quantity threshold as a quantity threshold of the target satellite if the displacement state is a stationary state; if the displacement state is a moving state, the quantity threshold is determined according to the time measurement system to which the clock of the base station belongs and the global navigation satellite system to which the target satellite belongs; wherein the quantity threshold determined when the displacement state is a moving state is greater than the quantity threshold determined when the displacement state is a stationary state.

[0158] In an embodiment of the present application, a terminal device is communicatively connected with a base station. The terminal device and the base station correspond to multiple common-view satellites. The terminal device can determine the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites, and then judge whether each common-view satellite is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites. Finally, based on the first satellite data and the second satellite data corresponding to the target satellite, the clock of the terminal device is determined. The ionospheric delay corresponding to each common-view satellite determines whether each common-view satellite can be used for timing. This can prevent the corresponding satellite with abnormal ionospheric activity from providing timing to the terminal device, thereby improving the timing accuracy of satellite timing.

[0159] like Figure 7 As shown, in one embodiment, a terminal device is provided, which may include:

[0160] A memory 710 storing executable program codes;

[0161] a processor 720 coupled to the memory 710;

[0162] The processor 720 calls the executable program code stored in the memory 710 to implement the satellite timing method provided in the above embodiments.

[0163] The memory 710 may include a random access memory (RAM) or a read-only memory (ROM). The memory 710 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 710 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the terminal device during use, etc.

[0164] The processor 720 may include one or more processing cores. The processor 720 uses various interfaces and lines to connect various parts of the entire terminal device, and executes various functions of the terminal device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 710, and calling data stored in the memory 710. Optionally, the processor 720 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 720 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 720, but may be implemented separately through a communication chip.

[0165] It is understandable that the terminal device may include more or fewer structural elements than those in the above structural block diagram, for example, a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., and no limitation is made here.

[0166] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the methods described in the above embodiments.

[0167] In addition, an embodiment of the present application further discloses a computer program product. When the computer program product is run on a computer, the computer can execute all or part of the steps in any one of the satellite timing methods described in the above embodiments.

[0168] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0169] The above is a detailed introduction to a satellite timing method, device, terminal equipment and storage medium disclosed in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A satellite timing method, characterized in that: Applied to a terminal device, the terminal device is communicatively connected with a base station, and the terminal device and the base station correspond to a plurality of co-viewing satellites, the method comprising: Determine a first ionospheric delay and a second ionospheric delay respectively corresponding to the multiple common-view satellites; wherein the first ionospheric delay is a delay in the ionosphere of a signal propagation path between the terminal device and the common-view satellite, and the second ionospheric delay is a delay in the ionosphere of a signal propagation path between the base station and the common-view satellite terminal device and the base station; Determining whether each of the common-view satellites is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites; Determine an inter-station single difference between the terminal device and the base station based on first satellite data and second satellite data corresponding to the target satellite, wherein the first satellite data is satellite data of a global navigation satellite system acquired by the terminal device, and the second satellite data is satellite data of a global navigation satellite system acquired by the base station; Determining a threshold value of the number of target satellites according to a displacement state of the terminal device; If the number of the target satellite is less than the number threshold, correcting the inter-station single difference according to the first ionospheric delay and the second ionospheric delay corresponding to the target satellite; The clock of the terminal device is determined based on the inter-station single difference and the clock of the base station.

2. The method according to claim 1, characterized in that The target common-view satellite is any common-view satellite among the multiple common-view satellites, the puncture point of the signal propagation path between the terminal device and the target common-view satellite in the ionosphere is a first ionosphere puncture point, the puncture point of the signal propagation path between the base station and the target common-view satellite in the ionosphere is a second ionosphere puncture point, the first ionosphere delay is a first ionosphere oblique path delay corresponding to the first ionosphere puncture point, and the second ionosphere delay is a second ionosphere oblique path delay corresponding to the second ionosphere puncture point; The determining, according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the plurality of common-view satellites, whether each of the common-view satellites is a target satellite available for timing, comprises: Calculate the difference between the first ionospheric slant path delay and the second ionospheric slant path delay at a plurality of consecutive target moments to obtain delay differences corresponding to the plurality of target moments respectively; Compare the delay difference values ​​corresponding to each of the target moments with a first target threshold value to obtain a first comparison result; the first target threshold value is a smaller value between a standard deviation of the delay differences corresponding to the multiple target moments and a preset delay difference threshold value; Compare the delay difference corresponding to each of the target moments with the second target threshold value to obtain a second comparison result; According to the first comparison result and the second comparison result, it is determined whether each of the co-viewing satellites is a target satellite available for timing.

3. The method according to claim 2, characterized in that The determining the first ionospheric delay and the second ionospheric delay respectively corresponding to the plurality of co-viewing satellites comprises: Receive first grid point information and second grid point information; wherein the first grid point information is information of four first grid points of the grid where the first ionospheric puncture point is located provided by the satellite-based augmentation system, and the second grid point information is information of four second grid points of the grid where the second ionospheric puncture point is located provided by the satellite-based augmentation system; Determining the first ionospheric slant path delay according to the first grid point information and the first puncture point information of the first ionospheric puncture point; The second ionospheric slant path delay is determined according to the second grid point information and the second puncture point information of the second ionospheric puncture point.

4. The method according to claim 3, characterized in that The first grid point information includes grid point ionospheric vertical delay errors corresponding to the four first grid points respectively, and the second grid point information also includes grid point ionospheric vertical delay errors corresponding to the four second grid points respectively; Before comparing the delay difference corresponding to each of the target moments with the second target threshold value to obtain a second comparison result, the method further includes: Calculating the standard deviation of the grid point ionospheric vertical delay errors corresponding to the target grid points at the multiple target times; wherein the target grid point is any one of the four first grid points and the four second grid points; Based on the weights corresponding to the four first grid points, weighted calculation is performed on the standard deviations of the ionospheric vertical delay errors of the grid points corresponding to the four first grid points, to obtain the first ionospheric vertical delay error standard deviation corresponding to the first ionospheric puncture point; Determining a first ionospheric slant path error standard deviation according to the first ionospheric vertical delay error standard deviation and the tilt parameter; Based on the weights corresponding to the four second grid points, respectively, weighted calculation is performed on the standard deviations of the ionospheric vertical delay errors of the grid points respectively corresponding to the four second grid points, to obtain the standard deviation of the second ionospheric vertical delay error corresponding to the second ionospheric puncture point; Determining a second ionospheric slant path error standard deviation according to the second ionospheric vertical delay error standard deviation and the tilt parameter; A second target threshold is determined based on the first ionospheric slant path error standard deviation, the second ionospheric slant path error standard deviation and a preset coefficient.

5. The method according to claim 3 or 4, characterized in that: The first grid point information includes the grid point ionospheric vertical delays corresponding to the four first grid points respectively, the second grid point information includes the grid point ionospheric vertical delays corresponding to the four second grid points respectively, the first puncture point information includes the longitude and latitude of the first ionospheric puncture point, and the second puncture point information includes the longitude and latitude of the second ionospheric puncture point; The determining, according to the first grid point information and the first puncture point information of the first ionospheric puncture point, the first ionospheric slant path delay comprises: Determining weights corresponding to the four first grid points respectively according to the longitude and latitude of the first ionospheric puncture point; Based on the weights corresponding to the four first grid points, respectively, weighted calculation is performed on the grid point ionospheric vertical delays corresponding to the four first grid points, to obtain the first ionospheric vertical delay corresponding to the first ionospheric puncture point; Determining the first ionospheric slant path delay according to the first ionospheric vertical delay and the tilt parameter; The determining the second ionospheric slant path delay according to the second grid point information and the second puncture point information of the second ionospheric puncture point includes: Determining weights corresponding to the four second grid points respectively according to the longitude and latitude of the second ionospheric puncture point; Based on the weights corresponding to the four second grid points, respectively, weighted calculation is performed on the grid point ionospheric vertical delays corresponding to the four second grid points, to obtain the second ionospheric vertical delay corresponding to the second ionospheric puncture point; The second ionospheric slant path delay is determined according to the second ionospheric vertical delay and the tilt parameter.

6. The method according to claim 1, characterized in that The displacement state of the terminal device includes a stationary state or a moving state, and determining the number threshold of the target satellites according to the displacement state of the terminal device includes: If the displacement state is the stationary state, a preset number threshold is used as the number threshold of the target satellites; If the displacement state is the motion state, determining a threshold value of the number of the target satellites according to a time measurement system to which a clock of the base station belongs and a global navigation satellite system to which the target satellites belong; The quantity threshold determined when the displacement state is the motion state is greater than the quantity threshold determined when the displacement state is the static state.

7. A satellite timing device, characterized in that: Applied to a terminal device, the terminal device is connected to a base station for communication, the terminal device and the base station have a plurality of co-viewing satellites, and the device comprises: A delay determination module, used to determine a first ionospheric delay and a second ionospheric delay respectively corresponding to the multiple common-view satellites; wherein the first ionospheric delay is a delay in the ionosphere of a signal propagation path between the terminal device and the common-view satellite, and the second ionospheric delay is a delay in the ionosphere of a signal propagation path between the base station and the common-view satellite; A satellite judgment module, configured to judge whether each of the common-view satellites is a target satellite available for timing according to the first ionospheric delay and the second ionospheric delay respectively corresponding to the multiple common-view satellites; A clock determination module is used to determine the inter-station single difference between the terminal device and the base station based on the first satellite data and the second satellite data corresponding to the target satellite; wherein the first satellite data is the satellite data of the global navigation satellite system acquired by the terminal device, and the second satellite data is the satellite data of the global navigation satellite system acquired by the base station; according to the displacement state of the terminal device, determine the number threshold of the target satellites; if the number of the target satellites is less than the number threshold, correct the inter-station single difference according to the first ionospheric delay and the second ionospheric delay corresponding to the target satellite; determine the clock of the terminal device according to the inter-station single difference and the clock of the base station.

8. A terminal device, characterized in that: include: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 6.

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