Method, apparatus, device and medium for repairing satellite integer clock jumps in satellite-based services

Abstract

The present invention discloses a method, device, equipment and medium for repairing satellite integer clock jumps in satellite-based services. The method includes: after receiving a verification request, performing a cycle slip detection on the uncalibrated phase delay UPD data stream of the narrow-lane satellite; when a cycle slip of the current narrow-lane satellite UPD is detected each time, obtaining the ambiguity compensation value corresponding to the current narrow-lane satellite UPD, and using the ambiguity compensation value to perform cumulative compensation on the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD; repairing the fixed clock bias ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity; and repairing the satellite integer clock jumps in the satellite-based service according to the repaired clock bias ambiguity. The present invention can solve the problem that the satellite clock jump phenomenon caused by the cycle slip of the narrow-lane satellite UPD affects the accuracy of clock bias solution.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite positioning, and particularly relates to a method, device, equipment and medium for repairing satellite integer clock jumps in satellite-based services. Background Art

[0002] At present, GNSS (Global Navigation Satellite System) real-time precise point positioning services that do not rely on enhanced information from physical reference stations are gradually becoming the mainstream positioning mode. The basic principle of measurement using GNSS is to perform time comparison using pseudo-random noise codes to obtain the time delay of the ranging signal.

[0003] The satellite clock, as the time reference of the navigation satellite in GNSS, directly determines the service quality of PNT (Positioning, Navigating and Timing). However, during the integer clock offset calculation, due to the integer cycle jumps of UPD (Uncalibrated Phase Delay), especially when the integer cycle jumps occur in the narrow-lane satellite UPD, clock jumps may occur in the satellite clock. The satellite clock jump phenomenon, as an abnormal data manifestation, affects the accuracy of clock offset calculation. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, equipment and medium for repairing satellite integer clock jumps in satellite-based services, which can solve the problem that the satellite clock jump phenomenon caused by the integer cycle jump of the narrow-lane satellite UPD affects the accuracy of clock offset calculation.

[0005] In a first aspect, a method for repairing satellite integer clock jumps in satellite-based services is provided, including:

[0006] After receiving a verification request, perform integer cycle jump verification on the uncalibrated phase delay (UPD) data stream of the narrow-lane satellite;

[0007] Whenever an integer cycle jump occurs in the current narrow-lane satellite UPD during verification, obtain the ambiguity compensation value corresponding to the current narrow-lane satellite UPD, and use the ambiguity compensation value to perform cumulative compensation on the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD;

[0008] Repair the fixed clock offset ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity;

[0009] Repair the satellite integer clock jumps in the satellite-based service according to the repaired clock offset ambiguity.

[0010] Optionally, the obtaining the ambiguity compensation value corresponding to the current narrow-lane satellite UPD includes:

[0011] Obtain a preset ambiguity compensation value;

[0012] Obtain the relative number of cycle slips, where the relative number of cycle slips represents the number of cycle slips of the current narrow-lane satellite UPD relative to a reference value, and the reference value is determined according to the narrow-lane satellite UPD of historical epochs in the data stream;

[0013] Subtract the relative number of cycle slips from the ambiguity compensation value to obtain the updated ambiguity compensation value.

[0014] Optionally, the repairing the fixed clock bias ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity includes:

[0015] Obtain the wide-lane integer ambiguity used when performing clock bias floating-point ambiguity constraint using a non-differential ambiguity fixing algorithm, and the narrow-lane receiver UPD corresponding to the narrow-lane integer ambiguity;

[0016] Repair the fixed clock bias ambiguity according to the current narrow-lane satellite UPD, the narrow-lane receiver UPD, the wide-lane integer ambiguity, and the compensated narrow-lane integer ambiguity.

[0017] Optionally, the performing cycle slip detection on the narrow-lane satellite UPD data stream includes:

[0018] Select a starting position from the narrow-lane satellite UPD data stream;

[0019] Use a sliding window to gradually move forward from the starting position;

[0020] Whenever the sliding window moves, perform cycle slip detection on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window.

[0021] Optionally, the performing cycle slip detection on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window includes:

[0022] Obtain the mean value of all narrow-lane satellite UPDs within the sliding window;

[0023] Calculate the difference between the current narrow-lane satellite UPD and the mean value; wherein, when the difference is not within a preset range, it is detected that a cycle slip has occurred in the current narrow-lane satellite UPD.

[0024] Optionally, before the performing cycle slip detection on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window, the method further includes:

[0025] Whenever the sliding window moves, it is determined whether the narrow-lane satellite UPD within the sliding window meets the preset data conditions;

[0026] When the narrow-lane satellite UPD within the sliding window meets the preset data conditions, execute the steps: perform cycle slip detection on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window;

[0027] When the narrow-lane satellite UPD within the sliding window does not meet the preset data conditions, set the ambiguity compensation value to zero and reselect the starting position.

[0028] Optionally, the preset data conditions include:

[0029] The difference between adjacent epoch narrow-lane satellite UPDs is less than or equal to a preset threshold;

[0030] There is a corresponding narrow-lane satellite UPD for each epoch.

[0031] In a second aspect, there is provided a satellite integer clock jump repair device in satellite-based services, including:

[0032] A detection module, configured to perform cycle slip detection on the uncalibrated phase delay UPD data stream of narrow-lane satellites after receiving a detection request;

[0033] A compensation module, configured to obtain the ambiguity compensation value corresponding to the current narrow-lane satellite UPD every time a cycle slip occurs in the current narrow-lane satellite UPD, and use the ambiguity compensation value to perform cumulative compensation on the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD;

[0034] A repair module, configured to repair the fixed clock difference ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity;

[0035] The repair module is further configured to repair the satellite integer clock jump in satellite-based services according to the repaired clock difference ambiguity.

[0036] In a third aspect, there is provided a satellite integer clock jump repair device in satellite-based services. The satellite integer clock jump repair device in satellite-based services includes a memory, a processor, and a computer program stored in the memory and running on the processor. The computer program executes the satellite integer clock jump repair method in satellite-based services as in the first aspect.

[0037] In a fourth aspect, there is provided a computer storage medium, which implements the satellite integer clock jump repair method in satellite-based services as in the first aspect when executed by a processor.

[0038] Compared with the prior art, in the satellite integer clock jump repair method, apparatus, device and medium provided by the embodiments of the present application in satellite-based services, when it is detected that a cycle slip occurs in the current narrow-lane satellite UPD, the satellite integer clock jump in the satellite-based services is repaired by using the fixed clock difference ambiguity corresponding to the current narrow-lane satellite UPD. Since the clock difference ambiguity is repaired based on the compensated narrow-lane integer ambiguity, and the narrow-lane integer ambiguity is accumulated and compensated by using the ambiguity compensation value corresponding to the current narrow-lane satellite UPD where the cycle slip occurs. Therefore, finally, the satellite integer clock jump in the satellite-based services is passively adaptively compensated and adjusted for the narrow-lane cycle slip, thereby being able to maintain the continuity of the ambiguity and not affecting the clock difference solution accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments of the present invention. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic flowchart of an embodiment of the satellite integer clock jump repair method in the satellite-based services of the present invention.

[0041] Figure 2 It is a refined flowchart of cycle slip detection for the narrow-lane satellite UPD data stream after receiving a detection request in an embodiment of the satellite integer clock jump repair method in the satellite-based services of the present invention.

[0042] Figure 3 It is another refined flowchart of cycle slip detection for the narrow-lane satellite UPD data stream after receiving a detection request in an embodiment of the satellite integer clock jump repair method in the satellite-based services of the present invention.

[0043] Figure 4 It is a refined flowchart of obtaining the ambiguity compensation value corresponding to the current narrow-lane satellite UPD in an embodiment of the satellite integer clock jump repair method in the satellite-based services of the present invention.

[0044] Figure 5 It is a schematic block diagram of an embodiment of the satellite integer clock jump repair apparatus in the satellite-based services of the present invention.

[0045] Figure 6 It is a schematic block diagram of an embodiment of the satellite integer clock jump repair device in the satellite-based services of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, many specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0047] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

[0048] As described in the background art, GNSS real-time precise point positioning services that do not rely on enhanced information from physical reference stations are gradually becoming the mainstream positioning mode. The basic principle of GNSS measurement is to use pseudo-random noise codes for time comparison to obtain the time delay of the ranging signal. Thus, accurate GNSS measurement is actually accurate time measurement.

[0049] And time measurement involves clock bias resolution. Clock bias refers to the time difference between two clocks at a certain instant, also known as the clock face reading difference, time comparison reading difference, or time difference. As one of the key prerequisites for real-time precise point positioning, the accuracy and stability of real-time satellite clock bias products directly determine the performance of real-time precise positioning services.

[0050] In view of the fact that the accuracies of broadcast ephemeris and ultra-rapid clock bias products are both difficult to meet the needs of users for real-time high-precision navigation and positioning, many GNSS analysis centers and organizations internationally, such as the German Federal Agency for Cartography and Geodesy, the French National Centre for Space Studies, the German Research Centre for Geosciences in Potsdam, the European Orbit Determination Centre, and Wuhan University in China, etc., have also begun to devote themselves to the algorithm research and product generation of real-time precise satellite clock bias estimation. As a result, satellite clock bias products based on the non-differenced ambiguity fixing strategy, that is, integer recovery clock (IRC) products, have emerged.

[0051] In terms of satellite clock bias estimation, the non-differenced ambiguity fixing strategy can improve the convergence time of real-time clock bias estimation and the accuracy of satellite clock bias. This non-differenced ambiguity fixing strategy utilizes the non-differenced ambiguity fixing algorithm. Its basic idea is that after fixing the wide-lane ambiguity and the narrow-lane ambiguity, using the fixed wide-lane ambiguity and the fixed narrow-lane ambiguity, and the clock bias float ambiguity (also known as clock bias ambiguity) restored from the narrow-lane UPD of the receiver and the satellite, the formula for specifically restoring the clock bias ambiguity is as follows:

[0052]

[0053] Where, represents the float ionosphere-free ambiguity, λlc Denote the ionosphere-free combined wavelength, N nl Denote the narrow-lane integer ambiguity, b r,nl Denote the narrow-lane receiver UPD, b s，nl Denote the narrow-lane satellite UPD, λ nl Denote the narrow-lane wavelength, N wl Denote the wide-lane integer ambiguity, λ wl Denote the wide-lane wavelength, where f1 and f2 represent the frequencies of the corresponding frequency points of the carrier observations.

[0054] The above narrow-lane integer ambiguity, narrow-lane receiver UPD, and narrow-lane satellite UPD together form the floating-point narrow-lane ambiguity It can be expressed by the following formula (2).

[0055]

[0056] However, affected by many factors such as satellite clocks, satellite transceiver equipment, ground clocks, ground transceiver equipment, and signal paths, satellite clocks may experience clock jumps. At the same time, during the integer clock offset calculation, due to the cycle slips of UPD, satellite clock jumps will also occur.

[0057] The above-mentioned satellite clock jump phenomenon is a common data anomaly in the processing of navigation satellite clock offset data, which affects the accuracy of clock offset calculation and is not conducive to the high-precision positioning calculation of user terminals. The following takes the occurrence of cycle slips in the narrow-lane satellite UPD during the satellite-based service clock offset calculation as an example for explanation.

[0058] Generally speaking, the ambiguity value is relatively stable. However, when cycle slips occur in the narrow-lane satellite UPD, it will cause the narrow-lane integer ambiguity of all stations observing this satellite to jump. Based on formula (1), it can be seen that when the narrow-lane integer ambiguity jumps, the clock offset ambiguity after fixing the restored ambiguity will also jump. Due to the continuous change of the front and back ambiguities, the finally calculated clock offset changes, and the accuracy of clock offset calculation is affected.

[0059] To solve the problem of satellite clock jumps, currently in the field of satellite positioning technology, usually when user terminals perform high-precision positioning calculations, they adopt a strategy of elimination to reduce the impact of clock jumps, and no relevant solutions have emerged in the satellite-based service stage.

[0060] Therefore, this application provides a method for repairing satellite integer clock jumps in satellite-based services. Refer to Figure 1 , in one embodiment, the method may include:

[0061] S110, after receiving a verification request, perform cycle slip verification on the narrow-lane satellite UPD data stream;

[0062] S120, when it is detected that a cycle slip occurs in the current narrow-lane satellite UPD, obtain the ambiguity compensation value corresponding to the current narrow-lane satellite UPD, and use the ambiguity compensation value to accumulate and compensate the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD;

[0063] S130, repair the fixed clock bias ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity;

[0064] S140, repair the satellite integer clock jump in the satellite-based service according to the repaired clock bias ambiguity.

[0065] This embodiment is applied to a satellite integer clock jump repair device (hereinafter referred to as the clock jump repair device for short) in the satellite-based service. For example, the clock jump repair device can be a server.

[0066] In the embodiment of the present application, when it is detected that a cycle slip occurs in the current narrow-lane satellite UPD, the satellite integer clock jump in the satellite-based service is repaired through the fixed clock bias ambiguity corresponding to the current narrow-lane satellite UPD. Since the clock bias ambiguity is repaired based on the compensated narrow-lane integer ambiguity, and the narrow-lane integer ambiguity is accumulated and compensated by using the ambiguity compensation value corresponding to the current narrow-lane satellite UPD with a cycle slip. Therefore, the satellite integer clock jump in the satellite-based service is passively adaptively compensated and adjusted for the narrow-lane cycle slip, thereby being able to maintain the continuity of the ambiguity and not affecting the accuracy of clock bias solution.

[0067] In S110, the verification request can be used to trigger the clock jump repair device to start the cycle slip verification. The verification request can be sent by other electronic devices connected to the clock jump repair device by the user, or can be generated by the user touching the touch panel of the clock jump repair device.

[0068] It should also be noted that the narrow-lane satellite UPD data stream aggregates the narrow-lane satellite UPDs of several epochs, and these narrow-lane satellite UPDs are arranged in order from the front to the back of the epoch. The above cycle slip verification is to detect the cycle slip of the narrow-lane satellite UPD, and through the verification, it can be confirmed whether the narrow-lane satellite UPD of the current epoch being verified (i.e., the current narrow-lane satellite UPD) has a cycle slip, and the number of cycle slips that occur can also be obtained.

[0069] Exemplarily, the narrow-lane satellite UPD data stream can be stored in the memory of the clock jump repair device. After receiving the verification request, the processor can extract the narrow-lane satellite UPD data stream, and then select the starting position therefrom, and use the narrow-lane satellite UPDs of several epochs after the starting position to perform cycle slip verification on the current narrow-lane satellite UPD to obtain the verification result, thereby confirming whether the verified narrow-lane satellite UPD has a cycle slip.

[0070] It should be noted that the cycle slip detection is a continuous and loop - executed process. When it is detected that there is no cycle slip in the current narrow - lane satellite UPD, starting from the position after the starting point, the narrow - lane satellite UPD of the next epoch can be selected for cycle slip detection until the detection stop condition is reached or a detection stop request is received, and then the detection ends.

[0071] To avoid misjudgment or missed judgment of cycle slips in the narrow - lane satellite UPD, the detection can be achieved by gradually moving a sliding window. In an optional example, referring to Figure 2 Step S110, the process of performing cycle slip detection on the narrow - lane satellite UPD data stream after receiving a detection request may include:

[0072] S211, after receiving the detection request, select a starting position from the narrow - lane satellite UPD data stream;

[0073] S212, use a sliding window to gradually move forward from the starting position;

[0074] S213, whenever the sliding window moves, perform cycle slip detection on the narrow - lane satellite UPD through the narrow - lane satellite UPD within the sliding window.

[0075] Exemplarily, the sliding window can accommodate 5 narrow - lane satellite UPD data. The starting position selected from the narrow - lane satellite UPD data stream is a1. Initially, the narrow - lane satellite UPD within the sliding window includes a1 to a5, where a5 is the current narrow - lane satellite UPD. a1 to a5 can be used as a reference to perform cycle slip detection on a5. After obtaining the detection result of a5, the sliding window moves one position in the direction of a5, and the narrow - lane satellite UPD within the sliding window is updated to a2 to a6, and then continue to perform cycle slip detection on a6.

[0076] In this example, through the gradual movement of the sliding window, the cycle slip detection of each current narrow - lane satellite UPD is realized, which can prevent misjudgment or missed judgment of cycle slips.

[0077] On the basis of using a sliding window, a smoothing window can be adopted to calculate the mean value of the sliding arc segment to perform cycle slip detection on the narrow - lane satellite UPD data within the sliding window. That is, whenever the sliding window moves, performing cycle slip detection on the narrow - lane satellite UPD through the narrow - lane satellite UPD within the sliding window may include:

[0078] Whenever the sliding window moves, obtain the mean value of all narrow - lane satellite UPD within the sliding window; calculate the difference between the current narrow - lane satellite UPD and the mean value; where when the difference is not within the preset range, it is detected that the current narrow - lane satellite UPD has a cycle slip.

[0079] Exemplarily, the preset range can be the value 0, that is, if the difference between the current narrow-lane satellite UPD and the mean value is not 0, it is considered that the current narrow-lane satellite UPD has a cycle slip. For example, when the current narrow-lane satellite UPD minus the mean value equals 1 cycle, that is, the difference = 1, it is considered that the current narrow-lane satellite UPD has a 1-cycle slip. When the current narrow-lane satellite UPD minus the mean value equals -1 cycle, that is, the difference = -1, it is considered that the current narrow-lane satellite UPD has a -1-cycle slip.

[0080] Of course, the preset range can also be an interval value. Exemplarily, when the difference is not within [-1, 2], it is detected that the current narrow-lane satellite UPD has a cycle slip.

[0081] It can be understood that by using a sliding window to smooth the narrow-lane satellite UPD within a certain number of epochs before the current narrow-lane satellite UPD to obtain the mean value and using it as the theoretical basis for whether the current narrow-lane satellite UPD has a cycle slip, the relative change of the narrow-lane satellite UPD within a certain number of epochs can be obtained, which conforms to the idea of maintaining consistency between the previous and subsequent epochs.

[0082] In order to improve the accuracy of calculating the mean value of the smoothing window, in another optional example, referring to Figure 3 , step S110, after receiving the verification request, the cycle slip verification of the narrow-lane satellite UPD data stream may include:

[0083] S311, after receiving the verification request, select the starting position from the narrow-lane satellite UPD data stream;

[0084] S312, use a sliding window to gradually move forward from the starting position;

[0085] S313, whenever the sliding window moves, determine whether the narrow-lane satellite UPD within the sliding window meets the preset data conditions; if so, execute S314; if not, execute S315;

[0086] S314, perform cycle slip verification on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window;

[0087] S315, set the ambiguity compensation value to zero and re-select the starting position.

[0088] It should be noted that the implementation processes of the above steps S311, S312, and S314 can refer to the execution of the foregoing S211, S212, and S213, and will not be elaborated here.

[0089] In this example, preset data conditions are added to impose requirements on the data within the sliding window. For cases that do not meet the preset data conditions, the narrow-lane satellite UPD data within the sliding window can be reselected for re-smoothing by dividing the radian. This can improve the reliability of subsequent smoothing window calculations and further improve the reliability of cycle slip detection.

[0090] The above preset data conditions can be set according to actual accuracy requirements. For example, they can include: the difference between narrow-lane satellite UPDs of adjacent epochs is less than or equal to a preset threshold; and there is a corresponding narrow-lane satellite UPD for each epoch.

[0091] The setting of this preset data condition imposes requirements on data continuity and volatility. For cases where there is a lack of narrow-lane satellite UPD in some epochs, and / or cases where the jump of narrow-lane satellite UPD in some epochs is too large, they are screened out. Thus, cycle slip detection can be performed only on the narrow-lane satellite UPD with complete data and volatility meeting the requirements, ensuring the accuracy of cycle slip detection.

[0092] Based on the foregoing description, it can be known that the narrow-lane integer ambiguity involved in S120 is usually relatively stable. However, once it is confirmed that a cycle slip occurs in the current narrow-lane satellite UPD being detected, the calculated clock error will be affected.

[0093] To this end, this application sets a corresponding ambiguity compensation value for the current narrow-lane satellite UPD with a cycle slip, and uses the ambiguity splicing technique to accumulate and compensate the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD, so that the narrow-lane integer ambiguity is updated based on the ambiguity compensation value.

[0094] On the basis of the update of the ambiguity compensation value, the wide-lane integer ambiguity used when performing clock error floating ambiguity constraint using the non-differential ambiguity fixing algorithm, and the narrow-lane receiver UPD corresponding to the narrow-lane integer ambiguity can be obtained; then referring to the above formula (1), according to the current narrow-lane satellite UPD, the narrow-lane receiver UPD, the wide-lane integer ambiguity, and the compensated narrow-lane integer ambiguity, the normal equation constraint is re-performed to repair the fixed clock error ambiguity.

[0095] It should be noted that the core of splicing the ambiguity lies in: realizing the accumulation and compensation during the continuous cycle slip detection process. This is because the repair of the clock error ambiguity is not only to repair the current narrow-lane satellite UPD with a cycle slip. Here, the repair of the clock error ambiguity runs through the entire narrow-lane satellite UPD data stream. Once the accumulation and compensation of the narrow-lane ambiguity are realized, the integer ambiguity is passively adjusted. In order to ensure the consistency of the integer ambiguity between adjacent epochs, the narrow-lane satellite UPD of subsequent epochs needs to be superimposed and compensated to maintain the ambiguity consistency, so as to ensure the stability of the integer clock product.

[0096] In an optional example, referring to Figure 4 , obtaining the ambiguity compensation value corresponding to the current narrow-lane satellite UPD may include:

[0097] S411, obtaining a preset ambiguity compensation value;

[0098] S412, obtaining the relative cycle slip number, where the relative cycle slip number represents the number of cycle slips of the current narrow-lane satellite UPD relative to a reference value, and the reference value is determined according to the narrow-lane satellite UPD of historical epochs in the data stream;

[0099] S413, subtracting the relative cycle slip number from the ambiguity compensation value to obtain the updated ambiguity compensation value.

[0100] The above preset ambiguity compensation value may be the latest ambiguity compensation value before this compensation. The initial ambiguity compensation value may be 0. For the case where the narrow-lane satellite UPD is interrupted for a certain period of time, the ambiguity compensation value may also be set to zero. The relative cycle slip number may be determined according to the detection result of cycle slips.

[0101] Determining the reference value according to the narrow-lane satellite UPD of historical epochs is relative to the current narrow-lane satellite UPD. For example, the reference value may be the mean value of all narrow-lane satellite UPDs within the above sliding window.

[0102] Still taking the difference between the current narrow-lane satellite UPD and the mean value being 1 or -1 as an example for illustration. When the difference between the current narrow-lane satellite UPD and the mean value is 1, the relative cycle slip number is 1 at this time. It is necessary to subtract 1 from the latest ambiguity compensation value before compensation (i.e., the preset ambiguity compensation value) to remove the influence of this cycle slip and restore the updated ambiguity compensation value.

[0103] Similarly, when the difference between the current narrow-lane satellite UPD and the mean value is -1, the relative cycle slip number is -1 at this time. It is necessary to add 1 to the preset ambiguity compensation value to remove the influence of this cycle slip and restore the updated ambiguity compensation value.

[0104] This example gives the self-update process of the ambiguity compensation value, which can eliminate the influence brought by the current cycle slip and is helpful for the subsequent repair of clock difference ambiguity and satellite integer clock jumps in satellite-based services.

[0105] It should also be noted that the acquisition and update of the ambiguity compensation value are based on different satellites. After the ambiguity compensation value of any satellite is updated, the narrow-lane integer ambiguity of all stations observing this satellite will accumulate the ambiguity compensation value of this satellite, thereby realizing cumulative compensation.

[0106] Combined with the above text Figures 1 to 4, which details the method for repairing satellite integer clock jumps in the satellite-based service of the embodiments of the present application. The following will be combined with Figure 5 , and details the device for repairing satellite integer clock jumps in the satellite-based service of the embodiments of the present application.

[0107] See Figure 5 , in an embodiment, the device for repairing satellite integer clock jumps in the satellite-based service may include:

[0108] A checking module 510, configured to perform a cycle slip check on the uncalibrated phase delay UPD data stream of the narrow-lane satellite after receiving a checking request;

[0109] A compensation module 520, configured to, when a cycle slip of the current narrow-lane satellite UPD is detected each time, obtain the ambiguity compensation value corresponding to the current narrow-lane satellite UPD, and use the ambiguity compensation value to perform cumulative compensation on the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD;

[0110] A repair module 530, configured to repair the fixed clock error ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity;

[0111] The repair module 530 is further configured to repair the satellite integer clock jumps in the satellite-based service according to the repaired clock error ambiguity.

[0112] In an optional example, the compensation module includes:

[0113] A first obtaining unit, configured to obtain a preset ambiguity compensation value;

[0114] A second obtaining unit, configured to obtain the relative cycle slip number of weeks, where the relative cycle slip number of weeks represents the number of weeks of the jump of the current narrow-lane satellite UPD relative to a reference value, and the reference value is determined according to the narrow-lane satellite UPD of historical epochs in the data stream;

[0115] An operation unit, configured to subtract the relative cycle slip number of weeks from the ambiguity compensation value to obtain the updated ambiguity compensation value.

[0116] In another optional example, the repair module includes:

[0117] A third obtaining unit, configured to obtain the wide-lane integer ambiguity used when performing clock error floating ambiguity constraint using a non-differential ambiguity fixing algorithm, and the narrow-lane receiver UPD corresponding to the narrow-lane integer ambiguity;

[0118] A repair unit, configured to repair the fixed clock error ambiguity according to the current narrow-lane satellite UPD, the narrow-lane receiver UPD, the wide-lane integer ambiguity, and the compensated narrow-lane integer ambiguity.

[0119] In yet another alternative example, the verification module includes:

[0120] A selection unit for selecting a starting position from the narrow-lane satellite UPD data stream;

[0121] A moving unit for gradually moving forward step by step from the starting position using a sliding window;

[0122] A verification unit for performing a cycle slip verification on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window whenever the sliding window moves.

[0123] In yet another alternative example, the verification unit includes:

[0124] An acquisition subunit for acquiring the mean value of all narrow-lane satellite UPDs within the sliding window;

[0125] A calculation subunit for calculating the difference between the current narrow-lane satellite UPD and the mean value; wherein, when the difference is not within a preset range, it is verified that a cycle slip has occurred in the current narrow-lane satellite UPD.

[0126] In yet another alternative example, the verification module further includes:

[0127] A judgment unit for judging whether the narrow-lane satellite UPD within the sliding window meets a preset data condition whenever the sliding window moves; when the narrow-lane satellite UPD within the sliding window meets the preset data condition, triggering the verification unit to perform a cycle slip verification on the narrow-lane satellite UPD through the narrow-lane satellite UPD within the sliding window; when the narrow-lane satellite UPD within the sliding window does not meet the preset data condition, setting the ambiguity compensation value to zero and triggering the selection unit to reselect the starting position.

[0128] In yet another alternative example, the preset data condition includes:

[0129] The difference between adjacent epoch narrow-lane satellite UPDs is less than or equal to a preset threshold;

[0130] There is a corresponding narrow-lane satellite UPD for each epoch.

[0131] Figure 6 FIG. shows a schematic hardware structure diagram of a satellite integer clock jump repair device in a satellite-based service provided by an embodiment of the present application. Among them, the satellite integer clock jump repair device in the satellite-based service may include a processor 601 and a memory 602 storing computer program instructions.

[0132] Specifically, the above-mentioned processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured as one or more integrated circuits for implementing the embodiments of the present application.

[0133] The memory 602 may include a mass storage for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 602 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 602 may be internal or external to the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid-state memory.

[0134] The memory 602 may include a read-only memory (ROM), a flash memory device, a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory 602 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in reference to the methods according to the above aspects of the present disclosure.

[0135] The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement any one of the satellite integer clock jump repair methods in the satellite-based services in the above embodiments.

[0136] In one example, the satellite-based service satellite integer clock jump repair device may further include a communication interface 603 and a bus 610. Among them, as Figure 6 shown, the processor 601, the memory 602, and the communication interface 603 are connected through the bus 610 and complete communication with each other.

[0137] The communication interface 603 is mainly used to implement communication between each module, device, unit, and / or device in the embodiments of the present application.

[0138] The bus 610 includes hardware, software, or both, and couples the components of the satellite integer clock jump repair device in the satellite-based service to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 610 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0139] The satellite integer clock jump repair device in the satellite-based service can be based on the satellite integer clock jump repair method in the satellite-based service, so as to implement the combination Figures 1 to 5 of the satellite integer clock jump repair method and device described in

[0140] In addition, in combination with the satellite integer clock jump repair method in the above embodiments, an embodiment of the present application can be implemented by providing a computer storage medium. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the satellite integer clock jump repair methods in the above embodiments is implemented.

[0141] In addition, the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0142] It should be understood that in the embodiments of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0143] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for repairing satellite integer clock jumps in satellite-based services, characterized in that, The method includes: After receiving a verification request, performing cycle slip detection on the undifferenced phase delay (UPD) data stream of narrow-lane satellites; Whenever a cycle slip occurs in the UPD of the current narrow-lane satellite, obtaining the ambiguity compensation value corresponding to the UPD of the current narrow-lane satellite, and using the ambiguity compensation value to cumulatively compensate the narrow-lane integer ambiguity corresponding to the UPD of the current narrow-lane satellite; Repairing the fixed clock bias ambiguity corresponding to the UPD of the current narrow-lane satellite according to the compensated narrow-lane integer ambiguity; Repairing the satellite integer clock jump in the satellite-based service according to the repaired clock bias ambiguity; The obtaining the ambiguity compensation value corresponding to the UPD of the current narrow-lane satellite includes: Obtaining a preset ambiguity compensation value; Obtaining the relative cycle slip count, where the relative cycle slip count represents the number of cycle slips of the UPD of the current narrow-lane satellite relative to a reference value, and the reference value is determined according to the UPD of the narrow-lane satellite in the historical epochs of the data stream; Subtracting the relative cycle slip count from the ambiguity compensation value to obtain the updated ambiguity compensation value.

2. The method according to claim 1, wherein The repairing the fixed clock bias ambiguity corresponding to the UPD of the current narrow-lane satellite according to the compensated narrow-lane integer ambiguity includes: Obtaining the wide-lane integer ambiguity used when performing clock bias floating ambiguity constraint using an undifferenced ambiguity fixing algorithm, and the narrow-lane receiver UPD corresponding to the narrow-lane integer ambiguity; Repairing the fixed clock bias ambiguity according to the UPD of the current narrow-lane satellite, the narrow-lane receiver UPD, the wide-lane integer ambiguity, and the compensated narrow-lane integer ambiguity.

3. The method according to any one of claims 1 to 2, characterized in that, The performing cycle slip detection on the UPD data stream of narrow-lane satellites includes: Selecting a starting position from the UPD data stream of narrow-lane satellites; Using a sliding window to gradually move forward from the starting position; Whenever the sliding window moves, performing cycle slip detection on the UPD of the narrow-lane satellites through the UPD of the narrow-lane satellites within the sliding window.

4. The method according to claim 3, characterized in that, The performing cycle slip detection on the UPD of the narrow-lane satellites through the UPD of the narrow-lane satellites within the sliding window includes: Obtaining the mean value of all UPDs of the narrow-lane satellites within the sliding window; Calculating the difference between the UPD of the current narrow-lane satellite and the mean value; wherein, when the difference is not within a preset range, it is detected that a cycle slip has occurred in the UPD of the current narrow-lane satellite.

5. The method according to claim 3, wherein Before the performing cycle slip detection on the UPD of the narrow-lane satellites through the UPD of the narrow-lane satellites within the sliding window, the method further includes: Whenever the sliding window moves, determining whether the UPD of the narrow-lane satellites within the sliding window meets preset data conditions; When the UPD of the narrow-lane satellites within the sliding window meets the preset data conditions, performing the step: performing cycle slip detection on the UPD of the narrow-lane satellites through the UPD of the narrow-lane satellites within the sliding window; When the UPD of the narrow-lane satellites within the sliding window does not meet the preset data conditions, setting the ambiguity compensation value to zero and re-selecting the starting position.

6. The method according to claim 5, characterized in that, The preset data conditions include: The mutual difference between the narrow-lane satellite UPDs of adjacent epochs is less than or equal to a preset threshold value; There is a corresponding narrow-lane satellite UPD for each epoch.

7. A satellite integer clock jump repair device in a satellite-based service, characterized in that, The device includes: A verification module, configured to perform cycle slip verification on the phase delay UPD data stream of the narrow-lane satellite that has not been calibrated, after receiving a verification request; A compensation module, configured to, when it is verified that a cycle slip occurs in the current narrow-lane satellite UPD, obtain an ambiguity compensation value corresponding to the current narrow-lane satellite UPD, and use the ambiguity compensation value to perform cumulative compensation on the narrow-lane integer ambiguity corresponding to the current narrow-lane satellite UPD; A repair module, configured to repair the fixed clock bias ambiguity corresponding to the current narrow-lane satellite UPD according to the compensated narrow-lane integer ambiguity; The repair module is further configured to repair the satellite integer clock jump in the satellite-based service according to the repaired clock bias ambiguity; The compensation module is specifically configured to: Obtain a preset ambiguity compensation value; Obtain the relative cycle slip number of weeks, where the relative cycle slip number of weeks represents the number of weeks of the jump of the current narrow-lane satellite UPD relative to a reference value, and the reference value is determined according to the narrow-lane satellite UPDs of historical epochs in the data stream; Subtract the relative cycle slip number of weeks from the ambiguity compensation value to obtain the updated ambiguity compensation value.

8. A satellite integer clock jump repair device in a satellite-based service, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and running on the processor, where the computer program executes the method for repairing the satellite integer clock jump in the satellite-based service according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that, When executed by a processor, the computer storage medium implements the method for repairing the satellite integer clock jump in the satellite-based service according to any one of claims 1 to 6.

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