Phase deviation product integrity determination method, device and storage medium

Abstract

The present application provides a method, device and storage medium for determining the integrity of a phase deviation product, wherein the method determines the wide-lane ambiguity fixed residuals and narrow-lane ambiguity fixed residuals between the target satellite and each non-target satellite based on the observation quantities corresponding to multiple satellites of each monitoring station; determines the wide-lane residual statistics based on the multiple wide-lane ambiguity fixed residuals and the first residual threshold corresponding to the target satellite; determines the narrow-lane residual statistics based on the multiple narrow-lane ambiguity fixed residuals and the second residual threshold corresponding to the target satellite; if the wide-lane residual statistics exceed the first statistical threshold, and / or the narrow-lane residual statistics exceed the second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable. The method of the present application solves the problem that the existing method for determining the integrity of the phase deviation product cannot accurately determine the quality reliability of the phase deviation product corresponding to a single satellite.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a method, device and storage medium for determining the integrity of a phase deviation product. Background Art

[0002] PPP-RTK (Precise Point Positioning-Real Time Kinematic) technology, based on the state domain, achieves high-precision positioning of the user end at the centimeter or even millimeter level, meeting the high-precision positioning needs of fields such as intelligent driving and precision agriculture. In PPP-RTK technology, the integrity of the satellite's phase deviation product (such as the phase deviation correction factor) directly determines the accuracy of the user end's positioning information. The integrity of the phase deviation product is equivalent to its reliability.

[0003] Figure 1 The system architecture diagram is determined for the integrity of the existing phase deviation product, such as Figure 1 As shown, the system includes: multiple satellites 11 of the Global Navigation Satellite System (GNSS), multiple monitoring stations 12 for monitoring the satellites, and a data center platform 13. Specifically, the integrity determination process of the phase deviation product of the satellite 11 is: each monitoring station 12 obtains the observation quantity of each satellite 11 and obtains the original observation data of each monitoring station 12. The data center platform 13 determines the phase deviation product of each satellite 11 based on the original observation data of each monitoring station 12 obtained from each monitoring station 12. The data center platform 13 adopts the carrier phase posterior positioning residual method to determine whether the comprehensive quality of the phase deviation products of the two positioning-related satellites 12 is reliable. If reliable, the data center platform 13 determines that the phase deviation products of the two satellites are both reliable phase deviation products; if unreliable, the data center platform 13 determines that the phase deviation products of the two satellites are both unreliable phase deviation products.

[0004] The existing method for determining the integrity of phase deviation products cannot accurately determine the quality reliability of the phase deviation product corresponding to a single satellite. Summary of the Invention

[0005] The present application provides a method, device and storage medium for determining the integrity of a phase deviation product to solve the problem that the existing method for determining the integrity of a phase deviation product cannot accurately determine the quality reliability of a phase deviation product corresponding to a single satellite.

[0006] In a first aspect, the present application provides a method for determining the integrity of a phase deviation product, comprising:

[0007] Acquiring original observation data from multiple monitoring stations of a global navigation satellite system (GNSS) at each monitoring station; the original observation data includes observation quantities corresponding to each of the multiple satellites of the GNSS;

[0008] Determining widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observations corresponding to each of the plurality of satellites at the designated monitoring station;

[0009] determining, based on the plurality of widelane ambiguity fixed residuals corresponding to the target satellite, a proportion of the widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and determining, based on the plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, a proportion of the narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic;

[0010] If the wide-lane residual statistic exceeds a first statistical threshold, and / or the narrow-lane residual statistic exceeds a second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable.

[0011] Optionally, determining widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observations corresponding to the plurality of satellites of the designated monitoring station includes:

[0012] Based on the observations corresponding to multiple satellites at a designated monitoring station, the formula is used:

[0013]

[0014] Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Wide lane ambiguity fixed residual between

[0015] Using the formula:

[0016]

[0017] Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Narrow lane ambiguity fixed residual between

[0018] in, and Satellites i and the wide-lane floating ambiguity of satellite s0; and Satellites iand the wide lane phase deviation corresponding to satellite s0;

[0019]

[0020] and The monitoring station r corresponds to the satellite s i and the respective ionospheric-free IF combined floating ambiguities of satellite s0; and Satellites i and the narrow lane phase deviation corresponding to satellite s0; c is the speed of light; f1 and f2 are the frequencies of the two frequency points used for positioning solution; round[.] indicates rounding; |.| indicates taking the absolute value.

[0021] Optionally, the IF combined float ambiguity is determined as follows:

[0022] The orbit and clock error products are used to correct the satellite orbit error and clock error in the observations of the designated satellite s received by the monitoring station r to obtain the corrected observations.

[0023] Perform precise point positioning (PPP) floating-point solution on the corrected observations to obtain the IF combined floating-point ambiguity of the specified satellite s.

[0024] Optionally, the widelane float ambiguity is determined as follows:

[0025] Based on the observations of the designated satellite s received by the monitoring station r, the wide lane floating point ambiguity of the designated satellite s is determined by using the linear combination MW combination method of the smoothed observations

[0026] Optionally, the observation amount of the designated satellite s received by the monitoring station r is determined by using the smoothed MW combination method to determine the wide lane floating point ambiguity of the designated satellite s include:

[0027] Using the MW combination method, calculate and determine the MW values ​​corresponding to multiple observations of the specified satellite s received by the monitoring station r in the time period from time (tk) to time t;

[0028] Determine the average value of the MW values ​​corresponding to the multiple observations as the wide lane floating point ambiguity of the specified satellite s

[0029] Where k is the smoothing duration.

[0030] Optionally, determining, based on the multiple widelane ambiguity fixed residuals corresponding to the target satellite, a proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic, includes:

[0031] Using the formula:

[0032]

[0033] Determine the wide lane residual statistics of the target satellite

[0034] The determining, based on the plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, a proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic, includes:

[0035] Using the formula:

[0036]

[0037] Determine the narrow lane residual statistics of the target satellite

[0038] in, is the number of wide-lane ambiguity fixed residuals exceeding the first residual threshold among the multiple wide-lane ambiguity fixed residuals corresponding to the target satellite s0; m is the number of monitoring stations of the GNSS; n j is the number of satellites observed by the j-th monitoring station of the GNSS; is the number of narrowlane ambiguity fixed residuals exceeding the second residual threshold among the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite s0.

[0039] Optionally, also include:

[0040] Generating and outputting a phase deviation integrity indicator of the target satellite;

[0041] Determine whether the multiple satellites corresponding to the multiple monitoring stations have been traversed. If so, generate and output the phase deviation integrity identifier of each satellite; if not, determine whether the satellites that have not been traversed are abnormal satellites, and generate and output the phase deviation integrity identifier of the satellites that have not been traversed.

[0042] In a second aspect, the present application provides an integrity determination device, the device comprising: a transceiver module and a processing module;

[0043] The transceiver module is used to obtain original observation data of each monitoring station from multiple monitoring stations of the global satellite navigation system GNSS; the original observation data includes observation quantities corresponding to each of the multiple satellites of the GNSS;

[0044] The processing module is configured to determine widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observations corresponding to the plurality of satellites at the designated monitoring station;

[0045] The processing module is further configured to determine, based on the plurality of widelane ambiguity fixed residuals corresponding to the target satellite, a proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and, based on the plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, determine, as a narrowlane residual statistic, a proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold;

[0046] The processing module is further configured to determine that the target satellite is an abnormal satellite and that a phase deviation product corresponding to the abnormal satellite is unreliable if the wide-lane residual statistic exceeds a first statistical threshold and / or the narrow-lane residual statistic exceeds a second statistical threshold.

[0047] In a third aspect, the present application provides an integrity determination device, the device comprising:

[0048] processor and memory;

[0049] The memory stores executable instructions executable by the processor;

[0050] The processor executes the executable instructions stored in the memory, so that the processor performs the method described above.

[0051] In a fourth aspect, the present application provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the method described above when executed by a processor.

[0052] The present application provides a method, device, and storage medium for determining the integrity of a phase deviation product. In GNSS, based on the original observation data from a monitoring station, the wide-lane residual statistics and narrow-lane residual statistics of a target satellite are determined. If the wide-lane residual statistics of the target satellite exceed a first statistical threshold, and / or the narrow-lane residual statistics of the target satellite exceed a second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable, thereby achieving accurate determination of the quality reliability of the phase deviation product corresponding to a satellite. This application addresses the problem that existing methods for determining the integrity of phase deviation products are unable to accurately determine the quality reliability of a phase deviation product corresponding to a single satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] Figure 1 A system architecture diagram to determine the integrity of the existing phase deviation product;

[0055] Figure 2 A diagram of the system architecture for determining the integrity of the phase deviation product provided in an embodiment of the present application;

[0056] Figure 3 Flowchart of the method for determining the integrity of the phase deviation product provided in an embodiment of the present application;

[0057] Figure 4 A high-precision positioning scene diagram of an autonomous driving vehicle provided in an embodiment of the present application;

[0058] Figure 5 A structural diagram of the integrity determination device provided in an embodiment of the present application;

[0059] Figure 6 This is a structural diagram of the integrity determination device provided in an embodiment of the present application.

[0060] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0061] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] The Global Navigation Satellite System (GNSS) provides real-time positioning, navigation, and timing services around the clock to users around the world. The traditional single-system raw GNSS positioning accuracy is about 5 meters. The state-domain-based real-time high-precision positioning (precise point positioning-real time kinematic, PPP-RTK) technology achieves centimeter or even millimeter-level high-precision positioning of the user end, meeting the high-precision positioning needs of intelligent driving, precision agriculture and other fields. In PPP-RTK technology, the integrity of the satellite's phase deviation product (such as the phase deviation correction number) directly determines the accuracy of the user-end positioning information. The integrity of the phase deviation product is the reliability of the phase deviation product.

[0063] like Figure 1 As shown, the existing phase deviation product integrity determination system includes: multiple satellites 11 of the Global Navigation Satellite System (GNSS), multiple monitoring stations 12 for monitoring the satellites, and a data center platform 13. Specifically, the integrity determination process of the phase deviation product of satellite 11 is as follows: each monitoring station 12 obtains the observation quantity of each satellite 11 to obtain the original observation data of each monitoring station 12. The data center platform 13 determines the phase deviation product of each satellite 11 based on the original observation data of each monitoring station 12 obtained from each monitoring station 12. For example, the data center platform 13 performs comprehensive estimation and modeling on the original observation data provided by each monitoring station 12 to generate a phase deviation product for each satellite 11. The data center platform 13 uses the carrier phase posterior positioning residual method to determine whether the comprehensive quality of the phase deviation products of two satellites 12 associated with the positioning is reliable. If reliable, the data center platform 13 determines that the phase deviation products of the two satellites are both reliable phase deviation products; if unreliable, the data center platform 13 determines that the phase deviation products of the two satellites are both unreliable phase deviation products.

[0064] The data center platform 13 uses a carrier phase a posteriori positioning residual method to determine whether the comprehensive quality of the phase deviation products corresponding to the two satellites 11 associated with the positioning is reliable. Specifically, the data center platform 13 performs positioning solutions for multiple GNSS monitoring stations 12 based on the original observation data and phase deviation products corresponding to the two satellites 12, and obtains the precise point positioning (PPP) and precise point positioning-ambiguity resolution (PPP-AR) after fixing the ambiguity for each monitoring station 12. The data center platform 13 determines that the difference between the phase residuals of PPP and PPP-AR of each monitoring station 12 is the comprehensive phase residual of each monitoring station 12. The comprehensive phase residual reflects the comprehensive quality of the phase deviation products corresponding to the two satellites 12 used for positioning solution. If the comprehensive phase residual corresponding to the two satellites 12 is less than or equal to the preset threshold, the data center platform 13 determines that the comprehensive quality of the phase deviation products corresponding to the two satellites 12 is reliable, and marks the two phase deviation products as reliable. If the integrated phase residuals corresponding to the two satellites 12 are greater than a preset threshold, the data center platform 13 determines that the integrated quality of the phase deviation products corresponding to the two satellites 12 is unreliable, and marks the two phase deviation products as unreliable.

[0065] The existing method for determining the integrity of phase deviation products cannot accurately determine the quality reliability of the phase deviation product corresponding to a single satellite.

[0066] Because the phase bias is designed to restore the integer nature of the ambiguity, thereby fixing the integer ambiguity, the ambiguity fixation residual directly reflects the reliability of the phase bias. If a statistical test quantity is constructed from the perspective of the ambiguity fixation residual, the integrity (or reliability) of the phase bias of a single satellite can be determined or monitored. The ambiguity fixation residual includes widelane ambiguity fixation residual and narrowlane ambiguity fixation residual.

[0067] In this regard, the present application proposes a method for determining the integrity of a phase deviation product, by obtaining original observation data from multiple monitoring stations of a global satellite navigation system (GNSS); the original observation data include observation quantities corresponding to multiple GNSS satellites; based on the observation quantities corresponding to multiple satellites of a designated monitoring station, determining widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between a target satellite and each non-target satellite corresponding to the designated monitoring station; based on multiple widelane ambiguity fixed residuals corresponding to the target satellite, determining the proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and based on multiple narrowlane ambiguity fixed residuals corresponding to the target satellite, determining the proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic; if the widelane residual statistic exceeds the first statistical threshold, and / or the narrowlane residual statistic exceeds the second statistical threshold, then the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable. The method of the present application can determine widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between a target satellite and a non-target satellite corresponding to each monitoring station based on observation quantities corresponding to multiple satellites at each monitoring station, thereby obtaining multiple widelane ambiguity fixed residuals and multiple narrowlane ambiguity fixed residuals corresponding to the target satellite. Based on the multiple widelane ambiguity fixed residuals corresponding to the target satellite and a first residual threshold, a widelane residual statistic of the target satellite is determined. Based on the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite and a second residual threshold, a narrowlane residual statistic of the target satellite is determined. If the widelane residual statistic exceeds the first statistical threshold and / or the narrowlane residual statistic exceeds the second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable. This achieves accurate determination of the quality reliability of the phase deviation product corresponding to a satellite, solving the problem that existing methods for determining the integrity of phase deviation products cannot accurately determine the quality reliability of the phase deviation product corresponding to a single satellite.

[0068] The method for determining the integrity of the phase deviation product provided in this application is described below with reference to some embodiments.

[0069] Figure 2 This is a system architecture diagram for determining the integrity of the phase deviation product provided in the embodiment of the present application. Figure 2As shown, the system includes: multiple satellites 11 of the Global Navigation Satellite System (GNSS), multiple monitoring stations 12 for monitoring the satellites, and integrity determination equipment 21. The Global Navigation Satellite System (GNSS) can be any one of the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Galileo Navigation Satellite System (Galileo), and the BeiDou Navigation Satellite System (BDS).

[0070] The integrity determination process for the phase bias product of satellite 11 is as follows: the integrity determination device 21 obtains raw observation data from multiple monitoring stations 12 of the Global Navigation Satellite System (GNSS) from each monitoring station 12. The raw observation data includes observations corresponding to each of the multiple GNSS satellites 11. Based on the observations corresponding to each of the multiple satellites 11 at the designated monitoring station 12, the integrity determination device 21 determines the widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite 11 and each of the non-target satellites 11 corresponding to the designated monitoring station 12. Based on the multiple widelane ambiguity fixed residuals corresponding to the target satellite 11, the integrity determination device 21 determines the proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and based on the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite 11, the integrity determination device 21 determines the proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic. If the widelane residual statistic exceeds a first statistical threshold and / or the narrowlane residual statistic exceeds a second statistical threshold, the integrity determination device 21 determines that the target satellite 11 is an abnormal satellite and determines that the phase deviation product corresponding to the abnormal satellite is unreliable. Alternatively, if the widelane residual statistic does not exceed the first statistical threshold and the narrowlane residual statistic does not exceed the second statistical threshold, the integrity determination device 21 determines that the target satellite 11 is a normal satellite and determines that the phase deviation product corresponding to the normal satellite is reliable. Optionally, the integrity determination device 21 marks the determined reliable phase deviation product as reliable or non-alarm, and marks the determined unreliable phase deviation product as unreliable or alarm.

[0071] In the embodiment of the present application, the reliable flag, the non-alarm flag, the unreliable flag or the alarm flag all belong to the phase deviation integrity flag of the satellite.

[0072] The designated monitoring station 12 may be any one of the plurality of monitoring stations 12 of the GNSS. The target satellite 11 may be any one of the plurality of satellites 11 of the GNSS.

[0073] The phase deviation product corresponding to each satellite 11 can be generated as follows: the integrity determination device 21 performs comprehensive estimation and modeling on the original observation data provided by each monitoring station 12 to generate a phase deviation product for each satellite 11. The phase deviation product is, for example, a phase deviation correction number.

[0074] The method for determining the integrity of the phase deviation product provided in the embodiment of the present application determines the wide-lane residual statistics and narrow-lane residual statistics of the target satellite in the GNSS based on the original observation data of the monitoring station. If the wide-lane residual statistics of the target satellite exceeds a first statistical threshold, and / or the narrow-lane residual statistics of the target satellite exceeds a second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable; if the wide-lane residual statistics of the target satellite does not exceed the first statistical threshold, and the narrow-lane residual statistics of the target satellite does not exceed the second statistical threshold, the target satellite is determined to be a normal satellite, and the phase deviation product corresponding to the normal satellite is determined to be reliable. The method of the present application realizes the accurate determination of the quality reliability of the phase deviation product corresponding to a satellite, and solves the problem that the existing method for determining the integrity of the phase deviation product cannot accurately determine the quality reliability of the phase deviation product corresponding to a satellite alone.

[0075] The following combination Figure 3 The method provided in this application is described in detail.

[0076] Figure 3 Flowchart of the method for determining the integrity of the phase deviation product provided in an embodiment of the present application. Figure 3 The execution subject of the embodiment shown can be Figure 2 The integrity determination device 21 in the embodiment shown. Figure 3 As shown, the method includes:

[0077] S101. Obtain original observation data of each monitoring station from multiple monitoring stations of the Global Navigation Satellite System (GNSS); the original observation data includes observation quantities corresponding to each of the multiple GNSS satellites.

[0078] In this embodiment, the integrity determination device 21 obtains raw observation data from multiple monitoring stations 12 of the Global Navigation Satellite System (GNSS). Each monitoring device can monitor multiple GNSS satellites 11 to obtain observation quantities corresponding to each of the multiple satellites 11, forming its raw observation data.

[0079] S102: Determine widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observation quantities corresponding to each of the multiple satellites at the designated monitoring station.

[0080] In this embodiment, the integrity determination device 21 may randomly select a monitoring station 12 from a plurality of monitoring stations 12 as a designated monitoring station 12, and determine widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite 11 and each non-target satellite 11 corresponding to the designated monitoring station 12 based on observations corresponding to the plurality of satellites 11 at the designated monitoring station 12. The target satellite 11 may also be randomly selected from the plurality of satellites 11 as the target satellite, and the other satellites may be non-target satellites.

[0081] Exemplarily, the integrity determination device 21 uses the formula:

[0082]

[0083] Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Wide lane ambiguity fixed residual between

[0084] Using the formula:

[0085]

[0086] Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Narrow lane ambiguity fixed residual between

[0087] in, and Satellites i and the wide-lane floating ambiguity of satellite s0; and Satellites i and the wide lane phase deviation corresponding to satellite s0;

[0088]

[0089] and The monitoring station r corresponds to the satellite s i and the respective ionospheric-free (IF) combined floating ambiguities of satellite s0; and Satellites iand the narrow lane phase deviation corresponding to satellite s0; c is the speed of light; f1 and f2 are the frequencies of the two frequency points used for positioning solution; round[.] indicates rounding; |.| indicates taking the absolute value.

[0090] Alternatively, the IF combined float ambiguity may be determined as shown in steps I-II below:

[0091] Step I: The integrity determination device 21 uses the orbit clock error product to correct the satellite orbit error and clock error in the observation of the specified satellite s received by the monitoring station r to obtain the corrected observation.

[0092] Step II: The integrity determination device 21 performs precise point positioning (PPP) floating point solution on the corrected observations to obtain the IF combined floating point ambiguity of the specified satellite s. For example, the integrity determination device 21 performs a PPP floating point solution based on a Kalman filter on the corrected observation quantity to obtain the IF combined floating point ambiguity of the specified satellite s.

[0093] Alternatively, the wide-lane float ambiguity may be determined as follows: the integrity determination device 21 determines the wide-lane float ambiguity of the designated satellite s based on the observations of the designated satellite s received by the monitoring station r by using a linear combination of smoothed observations (MW combination) Exemplarily, the integrity determination device 21 uses the MW combination method to calculate and determine the MW values ​​corresponding to multiple observations of the specified satellite s received by the monitoring station r during the time period from time (tk) to time t. The integrity determination device 21 determines the average value of the MW values ​​corresponding to the multiple observations as the widelane floating ambiguity of the specified satellite s

[0094] Where k is the smoothing duration. The value of smoothing duration k is related to the magnitude of the observed multipath error and pseudorange noise. A larger multipath error or pseudorange noise results in a larger smoothing duration k. Therefore, when setting the minimum smoothing duration for the MW combined observation, ensure that the minimum smoothing duration is sufficient to fully filter out the effects of errors such as pseudorange noise and multipath.

[0095] S103. Based on the multiple widelane ambiguity fixed residuals corresponding to the target satellite, determine the proportion of the widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and based on the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite, determine the proportion of the narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic.

[0096] In this embodiment, the integrity determination device 21 determines, based on multiple wide-lane ambiguity fixed residuals corresponding to the target satellite 11, the proportion of wide-lane ambiguity fixed residuals exceeding a first residual threshold as the wide-lane residual statistic of the target satellite 11; and based on multiple narrow-lane ambiguity fixed residuals corresponding to the target satellite 11, determines, as the narrow-lane residual statistic of the target satellite 11, the proportion of narrow-lane ambiguity fixed residuals exceeding a second residual threshold.

[0097] Exemplarily, the integrity determination device 21 uses the formula:

[0098]

[0099] Determine the wide lane residual statistics of the target satellite s0

[0100] The integrity determination device 21 uses the formula:

[0101]

[0102] Determine the narrow lane residual statistics of the target satellite s0

[0103] in, is the number of wide-lane ambiguity fixed residuals exceeding the first residual threshold among the multiple wide-lane ambiguity fixed residuals corresponding to the target satellite s0; m is the number of GNSS monitoring stations; n j is the number of satellites observed by the jth monitoring station of GNSS; is the number of narrowlane ambiguity fixed residuals exceeding the second residual threshold among the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite s0.

[0104] Optionally, the integrity determination device 21 determines, based on multiple wide-lane ambiguity fixed residuals corresponding to the target satellite 11, a proportion of wide-lane ambiguity fixed residuals exceeding a first residual threshold as a wide-lane residual statistic; and based on multiple narrow-lane ambiguity fixed residuals corresponding to the target satellite 11, determines, based on the multiple narrow-lane ambiguity fixed residuals, a proportion of narrow-lane ambiguity fixed residuals exceeding a second residual threshold as a narrow-lane residual statistic. If the wide-lane residual statistic does not exceed the first statistical threshold and the narrow-lane residual statistic does not exceed the second statistical threshold, the integrity determination device 21 determines that the target satellite 11 is a non-abnormal satellite 11, and determines that the phase deviation product corresponding to the non-abnormal satellite 11 is reliable.

[0105] Furthermore, the integrity determination device 21 marks the determined reliable phase deviation product as reliable or non-alarm.

[0106] S104: If the wide-lane residual statistic exceeds a first statistical threshold, and / or the narrow-lane residual statistic exceeds a second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable.

[0107] In this embodiment, if the wide-lane residual statistic exceeds the first statistical threshold, and / or the narrow-lane residual statistic exceeds the second statistical threshold, the integrity determination device 21 determines that the target satellite 11 is an abnormal satellite 11, and determines that the phase deviation product corresponding to the abnormal satellite 11 is unreliable.

[0108] Optionally, the integrity determination device 21 generates and outputs a phase deviation integrity indicator for the target satellite. The phase deviation integrity indicator may include a reliable indicator, a no-alert indicator, an unreliable indicator, or a warning indicator for the phase deviation product. For example, the integrity determination device 21 may mark an unreliable phase deviation product as unreliable or a warning indicator and output the marked indicator. Alternatively, the integrity determination device 21 may mark a reliable phase deviation product as reliable or a no-alert indicator and output the marked indicator.

[0109] The integrity determination device 21 determines whether multiple satellites corresponding to multiple monitoring stations have been traversed. If so, it generates and outputs the phase deviation integrity identifier of each satellite; if not, it determines whether the satellites that have not been traversed are abnormal satellites, and generates and outputs the phase deviation integrity identifier of the satellites that have not been traversed.

[0110] The following combination Figure 4 The example shown illustrates the method for determining the integrity of the phase deviation product provided in this application.

[0111] Figure 4 This is a high-precision positioning scene diagram of the autonomous driving vehicle provided in the embodiment of the present application. Figure 4 As shown in Figure 2, it is assumed that the global satellite navigation system A (GNSS-A system) includes 4 satellites and 3 ground monitoring stations. The 4 satellites included in the GNSS-A system are satellites s A , satellites B , satellites C , satellites D The GNSS-A system includes three monitoring stations: A , monitoring station B , monitoring station C Each monitoring station can observe four satellites of the GNSS-A system. The number of satellites that each monitoring station can observe, n, is 4. Vehicle A is an autonomous vehicle. Vehicle A is a user end in the field of intelligent driving. Vehicle A is equipped with a positioning device based on the GNSS-A system. The positioning device is used to locate Vehicle A and obtain its raw GNSS measurement results.

[0112] The high-precision positioning process of vehicle A is shown in the following steps (1)-(4):

[0113] (1) Vehicle A obtains the GNSS raw measurement results of vehicle A from the positioning device on board. Vehicle A sends a phase deviation product request to the integrity determination device 21 .

[0114] (2) The integrity determination device 21 receives the data from the monitoring station r of the GNSS-A system. A , monitoring station B , monitoring station C The original observation data of each monitoring station is obtained as shown in Table 1. The integrity determination device 21 performs comprehensive estimation and modeling on the original observation data of each monitoring station to generate a phase deviation product (such as a phase deviation correction number) for each satellite.

[0115] (3) Integrity determination device 21 performs integrity determination and integrity marking on the generated phase deviation products for each satellite as shown in steps (3.1)-(3.7) below. Integrity determination device 21 transmits the integrity-determined and integrity-marked phase deviation products for each satellite in the GNSS-A system to vehicle A.

[0116] (3.1) The integrity determination device 21 receives the GNSS-A system from the monitoring station r A , monitoring station B , monitoring station C The original observation data of each monitoring station are obtained as shown in Table 1. The original observation data include the satellite s of the GNSS-A system A , satellites B , satellites C , satellites D The corresponding observations.

[0117] Table 1 Original observation data of each monitoring station of GNSS-A system

[0118]

[0119] (3.2) The integrity determination device 21 is based on the monitoring station r A The original observation data of satellite s A , satellites B , satellites C , satellites D The corresponding observations AA, AB, AC, and AD are determined according to step S102. A Respectively with satellite s B , satellites C , satellites D Wide lane ambiguity fixed residual between and satellites A Respectively with satellite s B , satellites C , satellites D Narrow lane ambiguity fixed residual between

[0120] Similarly, the integrity determination device 21 is based on the monitoring station r B The original observation data of satellite s A , satellites B , satellites C , satellites D The corresponding observation quantities BA, BB, BC and BD are determined according to step S102. A Respectively with satellite s B , satellites C , satellites D Wide lane ambiguity fixed residual between and satellites A Respectively with satellite s B , satellites C , satellites D Narrow lane ambiguity fixed residual between

[0121] Similarly, the integrity determination device 21 is based on the monitoring station r C The original observation data of satellite s A , satellites B , satellites C , satellites D The corresponding observation quantities CA, CB, CC and CD are determined according to step S102. A Respectively with satellite s B , satellites C , satellites D Wide lane ambiguity fixed residual between and satellites A Respectively with satellite s B , satellites C , satellites D Narrow lane ambiguity fixed residual between

[0122] (3.3) The integrity determination device 21 is based on the satellite s A The corresponding multiple wide-lane ambiguity fixed residuals:

[0123] Using the formula:

[0124]

[0125] Determine target satellites A Wide Lane Residual Statistics

[0126] The integrity determination device 21 is based on the satellite s A The corresponding multiple narrow lane ambiguity fixed residuals:

[0127] Using the formula:

[0128]

[0129] Determine target satellites A The narrow lane residual statistics of

[0130] (3.4) If the target satellite s A Wide Lane Residual Statistics Does not exceed the first statistical threshold T WL , and the target satellite s A The narrow lane residual statistics of Does not exceed the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s A is a non-anomalous satellite, and determines the non-anomalous satellite s A The corresponding phase deviation product is reliable. Integrity determination equipment 21 pairs of non-abnormal satellites s A The corresponding phase deviation product is marked for reliable identification.

[0131] If the target satellite s A Wide Lane Residual Statistics Exceeding the first statistical threshold T WL , and / or target satellites A The narrow lane residual statistics of Exceeding the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s A is an abnormal satellite, and the abnormal satellite s is determined A The corresponding phase deviation product is unreliable. The integrity determination device 21 is unreliable for abnormal satellite s A The corresponding phase deviation product is marked as unreliable.

[0132] (3.5) Integrity determination device 21 uses satellite s BSimilarly, the integrity determination device 21 determines the target satellite s according to steps (3.2)-(3.3). B Wide Lane Residual Statistics and narrow lane residual statistics If the target satellite s B Wide Lane Residual Statistics Does not exceed the first statistical threshold T WL , and the target satellite s B The narrow lane residual statistics of Does not exceed the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s B is a non-anomalous satellite, and determines the non-anomalous satellite s B The corresponding phase deviation product is reliable. Integrity determination equipment 21 pairs of non-abnormal satellites s B The corresponding phase deviation product is reliably identified. B Wide Lane Residual Statistics Exceeding the first statistical threshold T WL , and / or target satellites B The narrow lane residual statistics of Exceeding the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s B is an abnormal satellite, and the abnormal satellite s is determined B The corresponding phase deviation product is unreliable. The integrity determination device 21 is unreliable for abnormal satellite s B The corresponding phase deviation product is marked as unreliable.

[0133] (3.6) Integrity determination device 21 uses satellite s C Similarly, the integrity determination device 21 determines the target satellite s according to steps (3.2)-(3.3). C Wide Lane Residual Statistics and narrow lane residual statistics If the target satellite s C Wide Lane Residual Statistics Does not exceed the first statistical threshold T WL , and the target satellite s C The narrow lane residual statistics of Does not exceed the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s C is a non-anomalous satellite, and determines the non-anomalous satellite s C The corresponding phase deviation product is reliable. Integrity determination equipment 21 pairs of non-abnormal satellites s C The corresponding phase deviation product is reliably identified.c Wide Lane Residual Statistics Exceeding the first statistical threshold T WL , and / or target satellites C The narrow lane residual statistics of Exceeding the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s C is an abnormal satellite, and the abnormal satellite s is determined C The corresponding phase deviation product is unreliable. The integrity determination device 21 is unreliable for abnormal satellite s C The corresponding phase deviation product is marked as unreliable.

[0134] (3.7) Integrity determination device 21 uses satellite s D Similarly, the integrity determination device 21 determines the target satellite s according to steps (3.2)-(3.3). D Wide Lane Residual Statistics and narrow lane residual statistics If the target satellite s D Wide Lane Residual Statistics Does not exceed the first statistical threshold T WL , and the target satellite s D The narrow lane residual statistics of Does not exceed the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s D is a non-anomalous satellite, and determines the non-anomalous satellite s D The corresponding phase deviation product is reliable. Integrity determination equipment 21 pairs of non-abnormal satellites s D The corresponding phase deviation product is reliably identified. D Wide Lane Residual Statistics Exceeding the first statistical threshold T WL , and / or target satellites D The narrow lane residual statistics of Exceeding the second statistical threshold T NL , then the integrity determination device 21 determines the target satellite s D is an abnormal satellite, and the abnormal satellite s is determined D The corresponding phase deviation product is unreliable. The integrity determination device 21 is unreliable for abnormal satellite s D The corresponding phase deviation product is marked as unreliable.

[0135] Optionally, the integrity determination device 21 determines multiple satellites of multiple monitoring stations (such as monitoring station r A , monitoring station B , monitoring station C Corresponding satellite sA , satellites B , satellites D , satellites D ) is traversed in a manner similar to steps (3.2)-(3.4). If so, a phase deviation integrity flag for each satellite is generated and output. If not, a manner similar to steps (3.2)-(3.4) is used to determine whether the satellites that have not been traversed are abnormal satellites, and a phase deviation integrity flag for each satellite that has not been traversed is generated and output. The phase deviation integrity flag can be a reliable flag or an unreliable flag.

[0136] The phase deviation product that has completed reliable identification marking or unreliable identification marking, that is, the phase deviation product after the integrity is determined.

[0137] Optionally, steps (3.2)-(3.4), step (3.5), step (3.6), and step (3.7) may be performed concurrently or in any order.

[0138] (4) Vehicle A selects a phase deviation product with a reliable identifier from the received phase deviation products after integrity confirmation, and corrects the original GNSS measurement results of vehicle A together with other enhanced information products (such as orbit, clock error, etc.) to obtain high-precision positioning information of vehicle A.

[0139] Optionally, after the integrity determination device 21 performs integrity determination and integrity marking on the generated phase deviation product of each satellite in the manner shown in steps (3.1)-(3.7), the integrity determination device 21 may only send the phase deviation product of the GNSS-A system carrying a reliable mark or a non-alarm mark to vehicle A, so that vehicle A can use the received phase deviation product to correct the original GNSS measurement result of vehicle A and obtain high-precision positioning information of vehicle A.

[0140] The integrity determination method of the phase deviation product provided in the embodiment of the present application determines the wide lane ambiguity fixed residuals and narrow lane ambiguity fixed residuals between the target satellite and the non-target satellite corresponding to each monitoring station based on the observation quantities corresponding to multiple satellites of each monitoring station, and then obtains multiple wide lane ambiguity fixed residuals corresponding to the target satellite in the GNSS, and multiple narrow lane ambiguity fixed residuals corresponding to the target satellite in the GNSS, determines the wide lane residual statistics of the target satellite based on the multiple wide lane ambiguity fixed residuals corresponding to the target satellite and a first residual threshold, and determines the target satellite based on the multiple narrow lane ambiguity fixed residuals corresponding to the target satellite and a second residual threshold. The narrow lane residual statistics of the target satellite, if the wide lane residual statistics of the target satellite exceeds the first statistical threshold, and / or the narrow lane residual statistics of the target satellite exceeds the second statistical threshold, then the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable; if the wide lane residual statistics of the target satellite does not exceed the first statistical threshold, and the narrow lane residual statistics of the target satellite does not exceed the second statistical threshold, then the target satellite is determined to be a non-abnormal satellite, and the phase deviation product corresponding to the non-abnormal satellite is determined to be reliable, and the reliable phase deviation product is marked as reliable or not marked as alarm, and the unreliable phase deviation product is marked as unreliable or marked as alarm. The method of the present application realizes the accurate determination and marking of the quality reliability of the phase deviation product corresponding to a satellite, and solves the problem that the existing method for determining the integrity of the phase deviation product can only determine whether the comprehensive quality of the phase deviation products of two satellites is reliable, but cannot accurately determine the quality reliability of the phase deviation product corresponding to a satellite alone. In addition, the method of the present application can also avoid the situation where reliable phase deviation products corresponding to non-abnormal satellites are marked as unreliable by existing phase deviation product integrity determination methods and are abandoned or filtered, thereby causing waste of satellite resources.

[0141] An embodiment of the present application also provides an integrity determination device. Figure 5 This is a diagram of the integrity determination device structure provided in the embodiment of this application. Figure 5 As shown, the device includes: a transceiver module 41 and a processing module 42.

[0142] The transceiver module 41 is used to obtain raw observation data from multiple monitoring stations of the Global Navigation Satellite System (GNSS). The raw observation data includes observation quantities corresponding to multiple GNSS satellites.

[0143] The processing module 42 is configured to determine wide lane ambiguity fixed residuals and narrow lane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observation quantities corresponding to the plurality of satellites of the designated monitoring station.

[0144] The processing module 42 is further configured to determine, based on the multiple widelane ambiguity fixed residuals corresponding to the target satellite, a proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic; and, based on the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite, determine, as a narrowlane residual statistic, a proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold.

[0145] The processing module 42 is further configured to determine that the target satellite is an abnormal satellite and that the phase deviation product corresponding to the abnormal satellite is unreliable if the wide-lane residual statistic exceeds a first statistical threshold and / or the narrow-lane residual statistic exceeds a second statistical threshold.

[0146] The specific implementation principle and technical effects of the integrity determination device also provided in the embodiment of the present application are similar to those Figure 3 The specific implementation principles and technical effects of the illustrated embodiment are similar and will not be described in detail here.

[0147] An embodiment of the present application also provides a device for determining integrity. Figure 6 This is a structural diagram of the integrity determination device provided in the embodiment of this application. Figure 6 As shown, the integrity determination device includes a processor 51 and a memory 52. ​​The memory 52 stores instructions executable by the processor 51, enabling the processor 51 to execute the technical solutions of the above-mentioned method embodiment. The implementation principles and technical effects are similar and will not be further described in this embodiment. It should be understood that the processor 51 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention can be directly implemented by a hardware processor or by a combination of hardware and software modules in the processor. The memory 52 may include high-speed random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. It can also be a USB flash drive, a mobile hard drive, a read-only memory, a magnetic disk, or an optical disk.

[0148] The present application also provides a storage medium that stores computer-executable instructions. When these computer-executable instructions are executed by a processor, the above-mentioned method for determining the integrity of the phase deviation product is implemented. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0149] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0150] An embodiment of the present application further provides a program product, such as a computer program, which, when executed by a processor, implements the method for determining the integrity of a phase deviation product covered by the present application.

[0151] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the integrity of a phase deviation product, characterized in that: include: Obtaining raw observation data from multiple monitoring stations of the Global Navigation Satellite System (GNSS); The original observation data includes observation quantities corresponding to the multiple satellites of the GNSS; Determining widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observations corresponding to each of the plurality of satellites at the designated monitoring station; Determine a plurality of widelane ambiguity fixed residuals corresponding to the target satellite, and determine a proportion of the widelane ambiguity fixed residuals as a widelane residual statistic based on the number of widelane ambiguity fixed residuals exceeding a first residual threshold; and determine a plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, and determine a proportion of the narrowlane ambiguity fixed residuals as a narrowlane residual statistic based on the number of narrowlane ambiguity fixed residuals exceeding a second residual threshold; wherein the denominators of the widelane residual statistic and the narrowlane residual statistic are a total sample size corresponding to the number of satellites observed by each monitoring station in the GNSS, and the total sample size is calculated based on the number of monitoring stations and the number of satellites observed by each monitoring station; If the wide-lane residual statistic exceeds a first statistical threshold, and / or the narrow-lane residual statistic exceeds a second statistical threshold, the target satellite is determined to be an abnormal satellite, and the phase deviation product corresponding to the abnormal satellite is determined to be unreliable.

2. The method according to claim 1, characterized in that The determining, based on observations corresponding to the plurality of satellites at the designated monitoring station, widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station, respectively, comprises: Based on the observations corresponding to multiple satellites at a designated monitoring station, the formula is used: Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Wide lane ambiguity fixed residual between Using the formula: Determine the target satellite s0 and the non-target satellites s corresponding to the designated monitoring station r i Narrow lane ambiguity fixed residual between in, and Satellites i and the wide-lane floating ambiguity of satellite s0; and Satellites i and the wide lane phase deviation corresponding to satellite s0; and The monitoring station r corresponds to the satellite s i and the respective ionospheric-free IF combined floating ambiguities of satellite s0; and Satellites i and the narrow lane phase deviation corresponding to satellite s0; c is the speed of light; f1 and f2 are the frequencies of the two frequency points used for positioning solution; round[.] indicates rounding; |.| indicates taking the absolute value.

3. The method according to claim 2, characterized in that The IF combined float ambiguity is determined as follows: The orbit and clock error products are used to correct the satellite orbit error and clock error in the observations of the designated satellite s received by the monitoring station r to obtain the corrected observations. Perform precise point positioning (PPP) floating-point solution on the corrected observations to obtain the IF combined floating-point ambiguity of the specified satellite s.

4. The method according to claim 2, characterized in that The widelane float ambiguity is determined as follows: Based on the observations of the designated satellite s received by the monitoring station r, the wide lane floating point ambiguity of the designated satellite s is determined by using the linear combination MW combination method of the smoothed observations 5. The method according to claim 4, characterized in that The observations of the designated satellite s received by the monitoring station r are used to determine the wide lane floating point ambiguity of the designated satellite s using the smoothed MW combination method. include: Using the MW combination method, calculate and determine the MW values ​​corresponding to multiple observations of the specified satellite s received by the monitoring station r in the time period from time (tk) to time t; Determine the average value of the MW values ​​corresponding to the multiple observations as the wide lane floating point ambiguity of the specified satellite s Where k is the smoothing duration.

6. The method according to any one of claims 1 to 5, characterized in that The determining, based on the plurality of widelane ambiguity fixed residuals corresponding to the target satellite, a proportion of widelane ambiguity fixed residuals exceeding a first residual threshold as a widelane residual statistic, includes: Using the formula: Determine the wide lane residual statistics of the target satellite The determining, based on the plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, a proportion of narrowlane ambiguity fixed residuals exceeding a second residual threshold as a narrowlane residual statistic, includes: Using the formula: Determine the narrow lane residual statistics of the target satellite in, is the number of wide-lane ambiguity fixed residuals exceeding the first residual threshold among the multiple wide-lane ambiguity fixed residuals corresponding to the target satellite s0; m is the number of monitoring stations of the GNSS; n j is the number of satellites observed by the j-th monitoring station of the GNSS; is the number of narrowlane ambiguity fixed residuals exceeding the second residual threshold among the multiple narrowlane ambiguity fixed residuals corresponding to the target satellite s0.

7. The method according to any one of claims 1 to 5, characterized in that Also includes: Generating and outputting a phase deviation integrity indicator of the target satellite; Determining whether the traversal of the plurality of satellites corresponding to the plurality of monitoring stations has been completed, and if so, generating and outputting a phase deviation integrity indicator for each satellite; If not, it is determined whether the satellite that has not been traversed is an abnormal satellite, and a phase deviation integrity identifier of the satellite that has not been traversed is generated and output.

8. A device for determining the integrity of a phase deviation product, characterized in that: The device includes: a transceiver module and a processing module; The transceiver module is used to obtain original observation data of each monitoring station from multiple monitoring stations of the global satellite navigation system GNSS; the original observation data includes observation quantities corresponding to each of the multiple satellites of the GNSS; The processing module is configured to determine widelane ambiguity fixed residuals and narrowlane ambiguity fixed residuals between the target satellite and each non-target satellite corresponding to the designated monitoring station based on observations corresponding to each of the multiple satellites at the designated monitoring station; The processing module is further configured to determine a plurality of widelane ambiguity fixed residuals corresponding to the target satellite, and determine a proportion of the widelane ambiguity fixed residuals as a widelane residual statistic based on the number of widelane ambiguity fixed residuals exceeding a first residual threshold; and determine a plurality of narrowlane ambiguity fixed residuals corresponding to the target satellite, and determine a proportion of the narrowlane ambiguity fixed residuals as a narrowlane residual statistic based on the number of narrowlane ambiguity fixed residuals exceeding a second residual threshold; wherein the denominators of the widelane residual statistic and the narrowlane residual statistic are a total sample size corresponding to the number of satellites observed by each monitoring station in the GNSS, and the total sample size is calculated based on the number of monitoring stations and the number of satellites observed by each monitoring station; The processing module is further configured to determine that the target satellite is an abnormal satellite and that a phase deviation product corresponding to the abnormal satellite is unreliable if the wide-lane residual statistic exceeds a first statistical threshold and / or the narrow-lane residual statistic exceeds a second statistical threshold.

9. A device for determining integrity, characterized in that: The device comprises: processor and memory; The memory stores executable instructions executable by the processor; The processor executes the executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1 to 7.

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