A satellite observation quality detection method, device, equipment and storage medium

Abstract

The application discloses a satellite observation quality detection method, device and equipment and a storage medium, relates to the technical field of satellite monitoring, and comprises the following steps: acquiring target satellite parameters of a currently detected satellite, and acquiring an association relationship mapping table corresponding to the currently detected satellite according to the target satellite parameters; performing pseudorange quality analysis and / or carrier quality analysis on the currently detected satellite according to the association relationship mapping table, to determine whether the observation quality of the currently detected satellite meets a preset condition; and if the observation quality of the currently detected satellite does not meet the preset condition, reducing the observation quality level of the currently detected satellite. The application detects the observation quality of the satellite by performing the pseudorange quality analysis and the carrier quality analysis, so as to reduce the calculation amount, determine the satellite with poor quality, avoid the adverse influence on the stability and precision of the satellite, and be beneficial to subsequent satellite positioning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite monitoring, and in particular to a satellite observation quality detection method, device, equipment and storage medium. BACKGROUND

[0002] GNSS (Global Navigation Satellite System, satellite positioning system) navigation positioning is widely used in various fields, and also requires higher precision and stability in complex environments. Screening available satellites has become one of the main research methods. In addition to autonomous integrity, the quality of the observation is also judged. For high-precision positioning, it is particularly important to effectively eliminate observation with poor quality. Observation with large bias will affect the continuity and stability of positioning, especially in shaded environments such as tunnels, viaducts, and high-rise buildings.

[0003] Existing evaluation methods have observation parameters for single satellites, such as their elevation angle, signal strength and residual error, and set quality levels through certain thresholds. Whether the threshold is dynamic, fixed or generated by a training sample, it has its limitations. Some methods group available satellites and use clustering to identify outliers as satellites with abnormal observations, which is not universally applicable. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a satellite observation quality detection method, device, equipment and storage medium, which can determine satellites with poor quality and avoid adverse effects on satellite stability and precision. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a satellite observation quality detection method, comprising:

[0006] Obtaining target satellite parameters of a current detection satellite, and obtaining an association relationship mapping table corresponding to the current detection satellite according to the target satellite parameters; the association relationship mapping table records reference satellites of the current detection satellite;

[0007] Performing pseudorange quality analysis and / or carrier quality analysis on the current detection satellite according to the association relationship mapping table to determine whether the observation quality of the current detection satellite meets a preset condition;

[0008] If the observation quality of the current detection satellite does not meet the preset condition, the observation quality level of the current detection satellite is reduced.

[0009] Optionally, the method for obtaining target satellite parameters of a current detection satellite and obtaining an association relationship mapping table corresponding to the current detection satellite according to the target satellite parameters comprises:

[0010] obtaining satellite parameters of the currently detected satellite, including a satellite system, a satellite frequency band and a satellite number, and establishing an association relationship mapping table corresponding to the currently detected satellite according to the satellite system and the satellite number;

[0011] Alternatively, satellite parameters of the currently detected satellite, including a satellite system, a satellite frequency band and a satellite number, are obtained, and a pre-established association relationship mapping table corresponding to the currently detected satellite is searched according to the satellite system and the satellite number.

[0012] Correspondingly, the association relationship mapping table is used to record a plurality of satellites with the same satellite number and different satellite frequency bands in the same satellite system, and the plurality of satellites include the currently detected satellite and the reference satellite.

[0013] Optionally, the pseudo-range quality analysis of the currently detected satellite according to the association relationship mapping table comprises:

[0014] obtaining a satellite system corresponding to the currently detected satellite according to the association relationship mapping table;

[0015] determining a plurality of associated satellites belonging to the same satellite system as the currently detected satellite according to the satellite system;

[0016] judging whether a cycle second pseudo-range difference between a cycle second pseudo-range of the currently detected satellite and cycle second pseudo-ranges of the associated satellites exceeds a preset difference threshold;

[0017] If the preset difference threshold is exceeded, it is determined that the observation quantity quality of the currently detected satellite does not satisfy the preset condition.

[0018] Optionally, the pseudo-range quality analysis of the currently detected satellite according to the association relationship mapping table further comprises:

[0019] obtaining a second pseudo-range reference value corresponding to the reference satellite according to the association relationship mapping table, and judging whether the second pseudo-range of the currently detected satellite is consistent with the second pseudo-range reference value of the reference satellite;

[0020] If the second pseudo-range of the currently detected satellite is not consistent with the second pseudo-range reference value of the reference satellite, it is judged whether an observation quantity quality level of the reference satellite is higher than an observation quantity quality level corresponding to the currently detected satellite.

[0021] If the observation quantity quality level of the reference satellite is higher than the observation quantity quality level corresponding to the currently detected satellite, it is determined that the observation quantity quality of the currently detected satellite does not satisfy the preset condition.

[0022] Optionally, the pseudo-range quality analysis of the currently detected satellite according to the association relationship mapping table further comprises:

[0023] obtaining a millisecond pseudo-range reference value corresponding to the reference satellite according to the association mapping table, and determining whether the millisecond pseudo-range of the current detection satellite is consistent with the millisecond pseudo-range reference value of the reference satellite;

[0024] if not, determining whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite;

[0025] if the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

[0026] Optionally, the pseudo-range quality analysis of the current detection satellite according to the association mapping table further comprises:

[0027] determining whether the chip pseudo-range of the current detection satellite meets a preset smooth condition;

[0028] if the preset smooth condition is not met, the observation quality level of the current detection satellite is lowered based on a preset level lowering rule, and the pseudo-range residual error of the current detection satellite is determined;

[0029] if the preset smooth condition is met, the pseudo-range residual error of the current detection satellite is directly determined;

[0030] when the pseudo-range residual error of the current detection satellite exceeds a preset pseudo-range residual error threshold, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

[0031] Optionally, the carrier quality analysis of the current detection satellite according to the association mapping table comprises:

[0032] obtaining a Doppler value corresponding to the reference satellite according to the association mapping table to determine a corresponding Doppler reference value;

[0033] determining whether a Doppler difference between the Doppler value of the current detection satellite and the Doppler reference value of the reference satellite exceeds a preset range;

[0034] if yes, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

[0035] Optionally, the carrier quality analysis of the current detection satellite according to the association mapping table further comprises:

[0036] determining whether a cycle slip of the current detection satellite exists;

[0037] If there is a rollover, the observation quality level of the current detected satellite is lowered based on the preset level lowering rule, and the carrier residual of the current detected satellite is determined;

[0038] If there is no rollover, the carrier residual of the current detected satellite is directly determined;

[0039] When the carrier residual of the current detected satellite exceeds a preset carrier residual threshold, it is determined that the observation quality of the current detected satellite does not meet the preset condition.

[0040] In a second aspect, the present application discloses a satellite observation quality detection device, comprising:

[0041] A parameter acquisition module is configured to acquire target satellite parameters of a current detected satellite, and acquire an association relationship mapping table corresponding to the current detected satellite according to the target satellite parameters; the association relationship mapping table records reference satellites of the current detected satellite;

[0042] A quality analysis module is configured to perform pseudorange quality analysis and / or carrier quality analysis on the current detected satellite according to the association relationship mapping table, so as to determine whether the observation quality of the current detected satellite meets a preset condition;

[0043] A level lowering module is configured to lower the observation quality level of the current detected satellite when the observation quality of the current detected satellite does not meet the preset condition.

[0044] In a third aspect, the present application discloses an electronic device, comprising:

[0045] A memory is configured to save a computer program;

[0046] A processor is configured to execute the computer program to implement the satellite observation quality detection method described above.

[0047] In a fourth aspect, the present application discloses a computer readable storage medium configured to save a computer program, which is executed by a processor to implement the satellite observation quality detection method described above.

[0048] It can be seen that the application obtains the target satellite parameters of the current detected satellite, and obtains the association relationship mapping table corresponding to the current detected satellite according to the target satellite parameters; the association relationship mapping table records the reference satellite of the current detected satellite; the association relationship mapping table is used for performing pseudo-range quality analysis and / or carrier quality analysis on the current detected satellite to determine whether the observation quantity quality of the current detected satellite meets the preset condition; if the observation quantity quality of the current detected satellite does not meet the preset condition, the observation quantity quality level of the current detected satellite is reduced. In this way, by using satellite parameters to determine the corresponding association relationship mapping table, and performing quality analysis on the pseudo-range and the carrier according to the association relationship mapping table, the satellite with poor observation quantity quality can be determined by using the effective association relationship between the satellite parameters with as few calculation amounts as possible. Compared with the multi-frequency multi-mode positioning system, the accuracy of the observation quantity quality judgment of the present application is higher, and is not limited to discrete points. Meanwhile, the satellite with poor observation quantity quality can be determined more effectively by using the present application, so as to reduce the adverse effects of the satellite with poor quality on the stability and precision of subsequent satellite positioning operations. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0050] Figure 1 A satellite observation quantity quality detection method flow chart disclosed by the present application;

[0051] Figure 2 A specific satellite observation quantity quality diagram disclosed by the present application;

[0052] Figure 3 A pseudo-range quality detection method flow chart of a specific satellite observation quantity disclosed by the present application;

[0053] Figure 4 A carrier quality detection method flow chart of a specific satellite observation quantity disclosed by the present application;

[0054] Figure 5 A satellite observation quantity quality detection device structure diagram disclosed by the present application;

[0055] Figure 6 An electronic device structure diagram disclosed by the present application. DETAILED DESCRIPTION

[0056] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0057] The existing evaluation is aimed at the observation quantity parameters of a single satellite, such as the elevation angle, signal strength and residual error, and sets a quality level through a certain threshold. No matter whether the threshold is dynamic, fixed or generated by a training sample, it has its limitations. Some methods group the available satellites and use clustering to discrete points, that is, satellites with observation quantity abnormalities, and do not have universality.

[0058] To solve the above problems, referring to FIG. 1, the embodiments of the present application disclose a quality detection method of satellite observation quantity, comprising: Figure 1

[0059] Step S11: obtaining a target satellite parameter of a current detection satellite, and obtaining an association relationship mapping table corresponding to the current detection satellite according to the target satellite parameter; the association relationship mapping table records a reference satellite of the current detection satellite.

[0060] In the embodiment, first, a target satellite parameter of a current detection satellite is obtained, and an association relationship mapping table corresponding to the current detection satellite is obtained according to the target satellite parameter. The association relationship mapping table records a reference satellite of the current detection satellite, and the reference satellite has the same satellite number as the current detection satellite but different satellite frequency bands. The association relationship mapping table can be pre-established, or can be newly established according to the target satellite parameter after the target satellite parameter is obtained. The specific condition can be determined according to user demand. However, it must be ensured that the current detection satellite has observation quantity, because the present solution is to detect the quality of satellite observation quantity. If the current detection satellite has no observation quantity, the process of quality detection of the current detection satellite by using the present solution will be meaningless, and therefore it is necessary to ensure that the current detection satellite has observation quantity.

[0061] Step S12: performing pseudorange quality analysis and / or carrier quality analysis on the current detection satellite according to the association relationship mapping table, to determine whether the observation quantity quality of the current detection satellite meets a preset condition.

[0062] ​In this embodiment, the pseudorange quality analysis and / or the carrier quality analysis are performed on the current detected satellite according to the association relationship mapping table to determine whether the observation quality of the current detected satellite meets the preset condition. It should be noted that the pseudorange quality analysis and the carrier quality analysis can be performed on the current detected satellite simultaneously, or only the pseudorange quality analysis or the carrier quality analysis can be performed on the current detected satellite according to specific conditions. In a first specific embodiment, the carrier quality analysis can be performed on the current detected satellite alone, that is, only the carrier quality analysis is performed without performing the pseudorange quality analysis; in a second specific embodiment, the pseudorange quality analysis can be performed on the current detected satellite alone, that is, only the pseudorange quality analysis is performed without performing the carrier quality analysis; in a third specific embodiment, the carrier quality analysis can be performed on the current detected satellite first, and if it is determined that the observation quality of the current detected satellite meets the preset condition after the carrier quality analysis is completed, the pseudorange quality analysis can be performed on the current detected satellite to further determine the observation quality of the current detected satellite by using a more accurate detection process; in a fourth specific embodiment, the pseudorange quality analysis can be performed on the current detected satellite first, and if it is determined that the observation quality of the current detected satellite meets the preset condition after the pseudorange quality analysis is completed, the carrier quality analysis can be performed on the current detected satellite to further determine the observation quality of the current detected satellite by using a more accurate detection process. Referring to FIG. 1, Figure 2 FIG. 1 shows a satellite observation quality diagram according to the present disclosure, in which the observation quality can be divided into pseudorange quality and carrier quality, the pseudorange quality includes but is not limited to intra-week second pseudorange, second pseudorange, millisecond pseudorange, chip pseudorange, and pseudorange residual error, and the carrier quality includes but is not limited to Doppler value, cycle slip detection, and carrier residual error. Through the above analysis process of multiple parameters, it is determined whether the observation quality of the current detected satellite meets the preset condition.

[0063] Step S13: If the observation quality of the current detected satellite does not meet the preset condition, the observation quality level of the current detected satellite is reduced.

[0064] In the embodiment, if the observation quality of the current detected satellite does not satisfy the preset condition, it is determined that the observation quality of the current detected satellite is poor, and the observation quality level of the current detected satellite is reduced. The preset condition can be that any one of the pseudorange quality analysis and the carrier quality analysis does not meet the corresponding standard. The observation quality level is a value for determining the observation quality of the current detected satellite. The higher the observation quality level, the better the observation quality of the current detected satellite. Conversely, the lower the observation quality level, the worse the observation quality of the current detected satellite. It should be noted that the observation quality level of the current detected satellite can be reduced by using a common level reduction standard, that is, all satellites use one level reduction standard to reduce the observation quality level.

[0065] In the embodiment, after the quality detection process of the current detected satellite is completed and the observation quality level of the current detected satellite is determined, the next satellite is jumped to for quality detection, and the quality detection of all satellites that need to be detected is completed. In this way, by determining the observation quality level of all satellites, subsequent satellite positioning operations can be better performed according to the observation quality level, laying a foundation for satellite positioning operations. Moreover, the present scheme can also be applied to the kick-out strategy, reducing the PVT (Position, Velocity, Time) solution matrix size and shortening the solution time.

[0066] It can be seen that the present application obtains the target satellite parameter of the current detected satellite, and obtains the association relationship mapping table corresponding to the current detected satellite according to the target satellite parameter. The association relationship mapping table records the reference satellite of the current detected satellite. The pseudorange quality analysis and / or the carrier quality analysis are performed on the current detected satellite according to the association relationship mapping table, so as to determine whether the observation quality of the current detected satellite satisfies the preset condition. If the observation quality of the current detected satellite does not satisfy the preset condition, the observation quality level of the current detected satellite is reduced. In this way, by using the satellite parameters to determine the corresponding association relationship mapping table, and performing quality analysis on the pseudorange and the carrier according to the association relationship mapping table, the satellite with poor observation quality can be determined by using the effective association relationship between the satellite parameters with as little calculation amount as possible. Compared with the multi-frequency and multi-mode positioning system, the present scheme has higher accuracy in judging the observation quality, and is not limited to discrete points. Moreover, the present scheme can more effectively determine the satellite with poor observation quality, so as to reduce the adverse effects of the satellite with poor quality on the stability and accuracy of subsequent satellite positioning operations.

[0067] Based on the above embodiments, it can be known that the application determines whether the current detected satellite meets the preset condition by performing pseudorange quality analysis and / or carrier quality analysis on the current detected satellite, so as to determine the quality of the observation quantity of the current detected satellite. Next, how to perform pseudorange quality analysis on the current detected satellite will be described in detail. Referring to Figure 3 As shown in the above embodiments, the application discloses a specific satellite observation quantity quality detection method, which comprises the following steps:

[0068] Step S201: acquiring satellite parameters of a current detected satellite, including a satellite system, a satellite frequency band and a satellite number, and establishing an association relationship mapping table corresponding to the current detected satellite according to the satellite system and the satellite number.

[0069] In the embodiment, satellite parameters of the current satellite are acquired, the parameters including but not limited to satellite system, satellite frequency band and satellite number, and an association mapping table corresponding to the current detected satellite is established according to the satellite system and the satellite number, wherein the satellite system includes but is not limited to GPS (Global Positioning System), GAL (Galileo satellite navigation system), GLO (Global Navigation Satellite System) and BD (BeiDou Navigation Satellite System). The satellite frequency band refers to signals sent by the same satellite at different frequency bands, including but not limited to L1, L2 and L5. The association mapping table is used to record several satellites with the same satellite number and different satellite frequency bands in the same satellite system, and the several satellites include the current detected satellite and the reference satellite, that is, one satellite number corresponds to one association mapping table. For example, a satellite with satellite number 2 has three satellite frequency bands, i.e., satellite frequency band L1, satellite frequency band L2 and satellite frequency band L5. At this time, the association mapping table saves all satellite frequency bands of the satellite with satellite number 2. It should be noted that if the satellite with satellite number 2 is located in the satellite corresponding to the satellite frequency band L1, it is the current detected satellite, and the satellites with satellite number 2 located in the satellite corresponding to the satellite frequency band L2 and the satellite frequency band L5 are two different reference satellites corresponding to the current detected satellite. Further, since the reference satellites and the current detected satellite have the same satellite number, they are actually the same satellite. The reference satellite is only a concept, which is proposed to distinguish the same satellite number at different frequency bands, so as to facilitate subsequent detection and analysis by using parameters of different frequency bands. In this way, by establishing the corresponding association mapping table after acquiring the satellite parameters of the current detected satellite, the association between the satellite parameters can be represented by the mapping table, and then the observation quality of the current detected satellite is detected by using the association, thereby reducing the calculation amount and improving the efficiency of satellite observation quality detection.

[0070] In another embodiment, satellite parameters of a currently detected satellite are acquired, including a satellite system, a satellite frequency band, and a satellite number, and a pre-established association relationship mapping table corresponding to the currently detected satellite is searched according to the satellite system and the satellite number. That is, the association relationship mapping table is a pre-established mapping table, and after the satellite parameters of the currently detected satellite are acquired, the pre-established association relationship mapping table corresponding to the currently detected satellite can be directly searched according to the satellite system and the satellite number. In this way, problems such as resource occupation and detection speed reduction caused by repeatedly creating the association relationship mapping table corresponding to the currently detected satellite can be avoided.

[0071] Step S202: According to the association relationship mapping table, the satellite system corresponding to the currently detected satellite is acquired, and a plurality of associated satellites belonging to the same satellite system as the currently detected satellite are determined according to the satellite system, and then it is judged whether the difference between the intra-week second pseudo-range of the currently detected satellite and the intra-week second pseudo-range of the associated satellite exceeds a preset difference threshold.

[0072] In this embodiment, after the satellite parameters of the currently detected satellite and the corresponding association relationship mapping table are acquired, the satellite system corresponding to the currently detected satellite is acquired according to the association relationship mapping table, then a plurality of associated satellites belonging to the same satellite system as the currently detected satellite are determined according to the satellite system, and it is judged whether the difference between the intra-week second pseudo-range of the currently detected satellite and the intra-week second pseudo-range of each associated satellite exceeds a preset difference threshold. Since the intra-week second pseudo-ranges of satellites in the same satellite system have consistent characteristics, it is necessary to judge the difference between the intra-week second pseudo-range of the currently detected satellite and the intra-week second pseudo-range of the associated satellite in the same satellite system, that is, whether the difference between the intra-week second pseudo-ranges exceeds a preset difference threshold, which can be set according to specific circumstances. It should be noted that the pseudo-range is equal to the speed of light multiplied by the propagation time, and the intra-week second is a time measurement unit greater than a second, so the intra-week second pseudo-range is the pseudo-range calculated by taking one intra-week second as the propagation time, and so on. The second pseudo-range is the pseudo-range calculated by taking one second as the propagation time, and the millisecond pseudo-range is the pseudo-range calculated by taking one millisecond as the propagation time.

[0073] Step S203: If the preset difference threshold is exceeded, it is determined that the quality of the observation quantity of the currently detected satellite does not satisfy the preset condition.

[0074] In the embodiment, if the difference between the intra-week second pseudo-range of the current detection satellite and the intra-week second pseudo-range of the reference satellite exceeds the preset difference threshold, that is, the difference between the intra-week second pseudo-range of the current detection satellite and the intra-week second pseudo-range of the reference satellite is too large, it indicates that the quality of the observation value of the current detection satellite is poor, and it is determined that the quality of the observation value of the current detection satellite does not satisfy the preset condition, and the process jumps to step S213. At this point, the analysis of the intra-week second pseudo-range of the current detection satellite is completed, and the pseudo-range quality analysis operation can be ended, or the subsequent steps of other quality parameter analysis can be continued to detect and analyze the pseudo-range quality of the current detection satellite by using more accurate parameters.

[0075] Step S204: Obtain the second pseudo-range reference value corresponding to the reference satellite according to the association relationship mapping table, and determine whether the second pseudo-range of the current detection satellite is consistent with the second pseudo-range reference value of the reference satellite.

[0076] In the embodiment, if the intra-week second pseudo-range detection operation is performed, when the intra-week second pseudo-range of the current detection satellite is compared with the intra-week second pseudo-range of the plurality of associated satellites, it is determined that the difference between the intra-week second pseudo-range of the current detection satellite and the intra-week second pseudo-range of the reference satellite is zero, that is, the number of associated satellites whose intra-week second pseudo-range is the same as that of the current detection satellite, and if the number of satellites is greater than the preset number threshold, that is, the intra-week second pseudo-range of the current detection satellite is consistent with that of the majority of associated satellites, the corresponding reference satellite is matched according to the association relationship mapping table, the second pseudo-range corresponding to the reference satellite is obtained as the second pseudo-range reference value, and the consistency of the second pseudo-range of the satellite with the same satellite number but different satellite frequency bands is determined to determine whether the second pseudo-range of the current detection satellite is consistent with the second pseudo-range reference value of the reference satellite, so as to detect and analyze the second pseudo-range of the current detection satellite. In another specific embodiment, if the intra-week second pseudo-range detection is not performed, the second pseudo-range reference value corresponding to the reference satellite can be directly obtained according to the association relationship mapping table, and it is determined whether the second pseudo-range of the current detection satellite is consistent with the second pseudo-range reference value of the reference satellite.

[0077] Step S205: If the second pseudo-range of the current detection satellite is not consistent with the second pseudo-range reference value of the reference satellite, it is determined whether the observation value quality level of the reference satellite is higher than the observation value quality level corresponding to the current detection satellite.

[0078] In the embodiment, if the second pseudo-range of the current detection satellite is not consistent with the second pseudo-range reference value of the reference satellite, it is further determined whether the observation value quality level of the reference satellite is higher than the observation value quality level corresponding to the current detection satellite.

[0079] Step S206: If the observation value quality level of the reference satellite is higher than the observation value quality level corresponding to the current detection satellite, it is determined that the observation value quality of the current detection satellite does not satisfy the preset condition.

[0080] In this embodiment, if the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite, it indicates that the observation quality of the current detection satellite is not good, and it is determined that the observation quality of the current detection satellite does not satisfy the preset condition. Then, it jumps to step S213. At this time, the analysis of the second pseudo-range of the current detection satellite is completed, and the pseudo-range quality analysis of the current detection satellite can be ended, or the subsequent millisecond pseudo-range detection analysis can be continued to detect and analyze the pseudo-range quality of the current detection satellite by using more accurate parameters.

[0081] Step S207: The millisecond pseudo-range reference value corresponding to the reference satellite is obtained according to the correlation mapping table, and it is determined whether the millisecond pseudo-range of the current detection satellite is consistent with the millisecond pseudo-range reference value of the reference satellite.

[0082] In this embodiment, if the second pseudo-range analysis operation is performed, when the second pseudo-range of the current detection satellite is consistent with the second pseudo-range reference value of the reference satellite, the millisecond pseudo-range reference value corresponding to the reference satellite is obtained according to the correlation mapping table, and it is determined whether the millisecond pseudo-range of the current detection satellite is consistent with the millisecond pseudo-range reference value of the reference satellite; or when the second pseudo-range of the current detection satellite is not consistent with the second pseudo-range reference value of the reference satellite, but the observation quality level of the reference satellite is not higher than the observation quality level corresponding to the current detection satellite, the millisecond pseudo-range analysis operation of the current detection satellite can also be performed. In another specific embodiment, if the aforementioned intra-week second pseudo-range analysis and / or second pseudo-range analysis operation is not performed, the millisecond pseudo-range analysis of the current detection satellite can also be directly performed. It can be understood that the millisecond pseudo-range of the satellite is also consistent when the satellite frequency bands of satellites with the same satellite number are different.

[0083] Step S208: If the millisecond pseudo-range of the current detection satellite is not consistent with the millisecond pseudo-range reference value of the reference satellite, it is determined whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite.

[0084] In this embodiment, if the millisecond pseudo-range of the current detection satellite is not consistent with the millisecond pseudo-range reference value of the reference satellite, it is further determined whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite.

[0085] Step S209: If the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite, it is determined that the observation quality of the current detection satellite does not satisfy the preset condition.

[0086] In the embodiment, if the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite, it indicates that the observation quality of the current detection satellite is not good, and it is determined that the observation quality of the current detection satellite does not satisfy the preset condition, and jumps to step S213. At this point, the millisecond pseudorange analysis operation of the current detection satellite is completed, and the pseudorange quality analysis can be directly ended, or the chip pseudorange of the current detection satellite can be continuously detected and analyzed to detect and analyze the pseudorange quality of the current detection satellite using more accurate parameters.

[0087] Step S210: determining whether the chip pseudorange of the current detection satellite satisfies a preset stable condition.

[0088] In the embodiment, if the aforementioned millisecond pseudorange analysis is performed, when the millisecond pseudorange of the current detection satellite is consistent with the millisecond pseudorange reference value of the reference satellite, it is determined whether the chip pseudorange of the current detection satellite satisfies a preset stable condition; or when the millisecond pseudorange of the current detection satellite is not consistent with the millisecond pseudorange reference value of the reference satellite, but the observation quality level of the reference satellite is not higher than the observation quality level corresponding to the current detection satellite, it also enters the step of determining whether the chip pseudorange of the current detection satellite satisfies a preset stable condition. In another specific embodiment, the aforementioned week-second pseudorange analysis, second pseudorange analysis and millisecond pseudorange analysis can not be performed, and the chip pseudorange analysis of the current detection satellite is directly performed. The chip is a unit smaller than the millisecond; whether the chip pseudorange of the current detection satellite satisfies a preset stable condition can be determined by judging whether there is a jump between the chip pseudoranges of the two epochs before and after, if there is a jump, it indicates that the chip pseudorange is not stable, otherwise, if there is no jump, it indicates that the chip pseudorange is stable. It can be understood that each satellite including the current detection satellite, the associated satellite and the reference satellite has corresponding parameters including but not limited to the week-second pseudorange, the second pseudorange, the millisecond pseudorange, the observation quality level and the chip pseudorange.

[0089] Step S211: if the preset stable condition is not satisfied, the observation quality level of the current detection satellite is reduced based on a preset level reduction rule, and the pseudorange residual error of the current detection satellite is determined; if the preset stable condition is satisfied, the pseudorange residual error of the current detection satellite is directly determined.

[0090] In the embodiment, if the code chip pseudo-range of the current detected satellite does not satisfy the preset stationary condition, the observation quality level of the current detected satellite is lowered based on a preset level lowering rule, and the pseudo-range residual error of the current detected satellite is determined; if the preset stationary condition is satisfied, the level lowering operation is not needed, and the pseudo-range residual error of the current detected satellite is directly determined. The preset level lowering rule can be set according to requirements, and can be the same as or different from the level lowering standard in step S13, which is not specifically limited here. It should be noted that the residual error is an objective standard for evaluating the quality of observation values. When the quality of observation values is good, the residual error is certainly near zero, and the jitter is small; otherwise, the observation values can be poor or some deviation or error items are not completely corrected.

[0091] Step S212: When the pseudo-range residual error of the current detected satellite exceeds a preset pseudo-range residual error threshold, it is determined that the observation quality of the current detected satellite does not satisfy the preset condition.

[0092] In the embodiment, after the pseudo-range residual error of the current detected satellite is determined, it is judged whether the pseudo-range residual error exceeds a preset pseudo-range residual error threshold. If the pseudo-range residual error of the current detected satellite exceeds the preset pseudo-range residual error threshold, it indicates that the quality of observation values of the current detected satellite is poor, and it is determined that the observation quality of the current detected satellite does not satisfy the preset condition. The preset pseudo-range residual error threshold is an empirical value, which can be set according to historical determination experience. It should be further noted that the analysis processes of the intra-week second pseudo-range, second pseudo-range, millisecond pseudo-range and code chip of the current detected satellite are independent of each other. Each parameter can be used to analyze the pseudo-range quality of the current detected satellite from coarse to fine to achieve the most accurate quality analysis effect, or one or more parameters selected from the above parameters can be combined to analyze the pseudo-range quality to achieve the effect of analyzing the observation quality of the current detected satellite with the least calculation amount.

[0093] Step S213: If the observation quality of the current detected satellite does not satisfy the preset condition, the observation quality level of the current detected satellite is lowered.

[0094] The specific process of step S213 can be referred to the corresponding content disclosed in the foregoing embodiments, which is not repeated here.

[0095] It can be seen that the embodiment can establish the association relationship mapping table corresponding to the currently detected satellite in advance before acquiring the satellite parameters, or establish the association relationship mapping table corresponding to the currently detected satellite according to the satellite parameters after acquiring the satellite parameters. In this way, if it is the first time to detect the currently detected satellite, the corresponding association relationship mapping table can be directly established for subsequent operation and use, and if the corresponding detection of the currently detected satellite has been completed in history, the association relationship mapping table established in history can be directly found, so as to avoid problems such as resource occupation and reduced speed caused by repeated establishment of the mapping table. Moreover, by analyzing the intra-week second pseudo-range, second pseudo-range, millisecond pseudo-range, chip pseudo-range and pseudo-range residual of the currently detected satellite respectively, the embodiment can realize detection of the observation quantity quality of the currently detected satellite from coarse to fine, and can also select parameters according to requirements to perform corresponding pseudo-range quality analysis. In this way, the detection effect is more accurate while the least amount of calculation is used as much as possible, so as to reduce the adverse effects of satellites with poor observation quantity quality on the stability and accuracy of subsequent satellite positioning operations.

[0096] Based on the above embodiment, by analyzing the intra-week second pseudo-range, second pseudo-range, millisecond pseudo-range, chip pseudo-range and pseudo-range residual of the currently detected satellite respectively, the embodiment realizes the process of pseudo-range quality analysis. In addition to the pseudo-range quality analysis, the carrier quality of the currently detected satellite can also be analyzed. Next, the carrier quality analysis process will be described in detail. Referring to FIG. 6, the embodiment of the application discloses a specific satellite observation quantity quality detection method, which comprises the following steps: Figure 4

[0097] Step S31: acquiring the Doppler value corresponding to the reference satellite according to the association relationship mapping table to determine the corresponding Doppler reference value.

[0098] In the embodiment, in addition to performing the pseudo-range quality analysis on the currently detected satellite, the carrier quality analysis on the currently detected satellite can also be performed, that is, the Doppler value corresponding to the reference satellite is acquired according to the association relationship mapping table, and the corresponding Doppler reference value is determined based on a preset Doppler reference value determination rule. The preset Doppler reference value determination rule is to divide the frequency of the satellite frequency band in which the currently detected satellite is located by the frequency of the satellite frequency band in which the reference satellite is located to obtain the Doppler reference value.

[0099] Step S32: determining whether the Doppler difference between the Doppler value of the currently detected satellite and the Doppler reference value of the reference satellite exceeds a preset range.

[0100] ​In this embodiment, after the Doppler reference value is determined, it is judged whether the Doppler difference between the Doppler value of the current satellite under detection and the Doppler reference value of the reference satellite exceeds a preset range according to the feature that the Doppler values of satellites of different satellite frequency bands of the same satellite number have a constant proportional relationship. The preset range can be set according to historical experience.

[0101] Step S33: If the Doppler difference exceeds the preset range, it is determined that the observation quality of the current satellite under detection does not satisfy the preset condition.

[0102] In this embodiment, if the Doppler difference exceeds the preset range, it indicates that the observation quality of the current satellite under detection is poor, it is determined that the observation quality of the current satellite under detection does not satisfy the preset condition, and the process jumps to step S37. At this point, the analysis of the Doppler value of the current satellite under detection is completed, and the carrier quality analysis can be directly ended, or the cycle slip of the current satellite under detection can be further analyzed to detect and analyze the observation quality of the current satellite under detection using more accurate parameters.

[0103] Step S34: It is judged whether the cycle slip of the current satellite under detection exists flip.

[0104] In this embodiment, if the cycle slip needs to be detected after the analysis of the Doppler value of the current satellite under detection is completed, when the Doppler difference between the Doppler value of the current satellite under detection and the Doppler reference value of the reference satellite does not exceed the preset range, it is further judged whether the cycle slip flag of the current satellite under detection exists flip, that is, whether there is a half cycle problem caused by phase flip. If the Doppler value of the current satellite under detection is not detected and analyzed, it can be directly judged whether the cycle slip of the current satellite under detection exists flip when the carrier quality analysis is started to be performed.

[0105] Step S35: If there is flip, the observation quality level of the current satellite under detection is lowered based on a preset level lowering rule, and the carrier residual error of the current satellite under detection is determined; if there is no flip, the carrier residual error of the current satellite under detection is directly determined.

[0106] In this embodiment, if the cycle slip flag of the current satellite under detection exists flip, the observation quality level of the current satellite under detection is lowered based on a preset level lowering rule, and then the carrier residual error of the current satellite under detection is determined; if there is no flip, the level lowering operation is not needed, and the carrier residual error of the current satellite under detection is directly determined.

[0107] Step S36: When the carrier residual error of the current satellite under detection exceeds a preset carrier residual error threshold, it is determined that the observation quality of the current satellite under detection does not satisfy the preset condition.

[0108] In this embodiment, after the carrier residual is determined, it is judged whether the carrier residual exceeds a preset carrier residual threshold. If the carrier residual of the current detected satellite exceeds the preset carrier residual threshold, it indicates that the observation quality of the current detected satellite is poor, and it is determined that the observation quality of the current detected satellite does not satisfy the preset condition. It should be noted that the carrier quality analysis on the current detected satellite includes analysis on the Doppler value, cycle slip and carrier residual. In the carrier quality analysis process, only the Doppler value can be analyzed, i.e., the process of carrier quality analysis is ended after step S33 is executed, only the analysis on the cycle slip and carrier residual can be executed, i.e., only steps S34 to S36 are executed, the Doppler value is not detected and analyzed, or the Doppler value, cycle slip and carrier residual can be analyzed at the same time. Specifically, the parameters to be detected and analyzed can be determined according to the detection accuracy of the current detected satellite, which is not limited here.

[0109] Step S37: If the observation quality of the current detected satellite does not satisfy the preset condition, the observation quality level of the current detected satellite is reduced.

[0110] It should be noted that the specific process of step S37 can refer to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

[0111] It can be seen that the present application can perform carrier quality analysis on the current detected satellite, i.e., quality analysis on the Doppler value, cycle slip and carrier residual, to detect the observation quality of the current detected satellite. In this way, the quality detection accuracy can be improved by judging from multiple aspects of pseudo-range and carrier, and the adverse effects of satellites with poor observation quality on the subsequent satellite positioning stability and accuracy can be reduced.

[0112] Reference Figure 5 The present application also discloses a satellite observation quality detection device, which comprises:

[0113] The parameter acquisition module 11 is configured to acquire target satellite parameters of a current detected satellite, and acquire an association mapping table corresponding to the current detected satellite according to the target satellite parameters. The association mapping table records reference satellites of the current detected satellite.

[0114] The quality analysis module 12 is configured to perform pseudo-range quality analysis and / or carrier quality analysis on the current detected satellite according to the association mapping table, to determine whether the observation quality of the current detected satellite satisfies a preset condition.

[0115] The grade reduction module 13 is configured to reduce the observation quality grade of the current detection satellite when the observation quality of the current detection satellite does not satisfy the preset condition.

[0116] It can be seen that, by acquiring the target satellite parameter of the current detection satellite, and acquiring the association relationship mapping table corresponding to the current detection satellite according to the target satellite parameter, the association relationship mapping table records the reference satellite of the current detection satellite, the observation quality of the current detection satellite is analyzed according to the association relationship mapping table to determine whether the observation quality of the current detection satellite satisfies the preset condition, and the observation quality grade of the current detection satellite is reduced when the observation quality of the current detection satellite does not satisfy the preset condition. In this way, by using the satellite parameters to determine the corresponding association relationship mapping table, and performing quality analysis on the pseudorange and the carrier according to the association relationship mapping table, the satellite with poor observation quality can be determined by using the effective association relationship between the satellite parameters with as few calculation amounts as possible. Compared with the multi-frequency multi-mode positioning system, the accuracy of the observation quality judgment of the present application is higher, and is not limited to discrete points. Meanwhile, the satellite with poor observation quality can be determined more effectively by using the present application, so as to reduce the adverse effects of the satellite with poor observation quality on the stability and accuracy of the subsequent satellite positioning operation.

[0117] In some specific embodiments, the parameter acquisition module 11 can specifically include:

[0118] The first mapping table acquisition unit is configured to acquire the satellite parameter of the current detection satellite, including the satellite system, the satellite frequency band and the satellite number, and establish the association relationship mapping table corresponding to the current detection satellite according to the satellite system and the satellite number;

[0119] The second mapping table acquisition unit is configured to acquire the satellite parameter of the current detection satellite, including the satellite system, the satellite frequency band and the satellite number, and find the association relationship mapping table corresponding to the current detection satellite according to the satellite system and the satellite number;

[0120] In some specific embodiments, the quality analysis module 12 can specifically include:

[0121] The satellite system determination unit is configured to acquire the satellite system corresponding to the current detection satellite according to the association relationship mapping table;

[0122] The associated satellite determination unit is configured to determine a plurality of associated satellites belonging to the same satellite system as the current detection satellite according to the satellite system;

[0123] The week-second pseudo-range judgment unit is configured to judge whether a week-second pseudo-range difference between the week-second pseudo-range of the current detection satellite and the week-second pseudo-range of the associated satellite exceeds a preset difference threshold.

[0124] The first quality judgment unit is configured to judge that the observation quality of the current detection satellite does not satisfy the preset condition when the preset difference threshold is exceeded.

[0125] In some specific embodiments, the satellite observation quality detection device can further include:

[0126] The second pseudo-range judgment unit is configured to acquire a second pseudo-range reference value corresponding to the reference satellite according to the association relationship mapping table, and judge whether the second pseudo-range of the current detection satellite is consistent with the second pseudo-range reference value of the reference satellite.

[0127] The first level judgment unit is configured to judge whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite when the second pseudo-range of the current detection satellite is not consistent with the second pseudo-range reference value of the reference satellite.

[0128] The second quality judgment unit is configured to judge that the observation quality of the current detection satellite does not satisfy the preset condition when the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite.

[0129] In some specific embodiments, the satellite observation quality detection device can further include:

[0130] The millisecond pseudo-range judgment unit is configured to acquire a millisecond pseudo-range reference value corresponding to the reference satellite according to the association relationship mapping table, and judge whether the millisecond pseudo-range of the current detection satellite is consistent with the millisecond pseudo-range reference value of the reference satellite.

[0131] The second level judgment unit is configured to judge whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite when the millisecond pseudo-range of the current detection satellite is not consistent with the millisecond pseudo-range reference value of the reference satellite.

[0132] The third quality judgment unit is configured to judge that the observation quality of the current detection satellite does not satisfy the preset condition when the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite.

[0133] In some specific embodiments, the satellite observation quality detection device can further include:

[0134] a chip pseudo-range judgment unit, configured to judge whether a chip pseudo-range of the current detected satellite satisfies a preset smooth condition;

[0135] a first pseudo-range residual determination unit, configured to, when the preset smooth condition is not satisfied, reduce the observation quality level of the current detected satellite based on a preset level reduction rule, and determine a pseudo-range residual of the current detected satellite;

[0136] a second pseudo-range residual determination unit, configured to, when the preset smooth condition is satisfied, directly determine the pseudo-range residual of the current detected satellite;

[0137] a fourth quality judgment unit, configured to, when the pseudo-range residual of the current detected satellite exceeds a preset pseudo-range residual threshold, judge that the observation quality of the current detected satellite does not satisfy the preset condition.

[0138] In some specific embodiments, the quality analysis module 12 can specifically include:

[0139] a Doppler value acquisition unit, configured to acquire a Doppler value corresponding to the reference satellite according to the association relationship mapping table to determine a corresponding Doppler reference value;

[0140] a difference value judgment unit, configured to judge whether a Doppler difference value between the Doppler value of the current detected satellite and the Doppler reference value of the reference satellite exceeds a preset range;

[0141] a fifth quality judgment unit, configured to, when the Doppler difference value exceeds the preset range, judge that the observation quality of the current detected satellite does not satisfy the preset condition.

[0142] In some specific embodiments, the satellite observation quality detection device can further include:

[0143] a cycle slip judgment unit, configured to judge whether a cycle slip of the current detected satellite exists;

[0144] a first carrier residual determination unit, configured to, when the cycle slip exists, reduce the observation quality level of the current detected satellite based on the preset level reduction rule, and determine a carrier residual of the current detected satellite;

[0145] a second carrier residual determination unit, configured to, when the cycle slip does not exist, directly determine the carrier residual of the current detected satellite;

[0146] a sixth quality judgment unit, configured to, when the carrier residual of the current detected satellite exceeds a preset carrier residual threshold, judge that the observation quality of the current detected satellite does not satisfy the preset condition.

[0147] Further, the embodiment of the present application further discloses an electronic device, Figure 6 is an electronic device 20 structural diagram shown according to an exemplary embodiment, the contents in the figure cannot be considered as any limitation on the scope of use of the present application.

[0148] Figure 6 An electronic device 20 structural diagram provided by the embodiment of the present application. The electronic device 20, specifically can include: at least one processor 21, at least one memory 22, power supply 23, communication interface 24, input output interface 25 and communication bus 26. Wherein, the memory 22 is used for storing computer programs, the computer programs are loaded and executed by the processor 21, to realize the related steps in the satellite observation quality detection method disclosed in any of the preceding embodiments. In addition, the electronic device 20 in the embodiment of the present application can be an electronic computer.

[0149] In the embodiment, the power supply 23 is used for providing working voltage for each hardware device on the electronic device 20; the communication interface 24 can create data transmission channel between the electronic device 20 and the external device, and the communication protocol followed by the communication interface 24 can be any communication protocol applicable to the technical solution of the present application, which is not limited specifically herein; the input output interface 25 is used for obtaining external input data or outputting data to the outside world, and the specific interface type can be selected according to the specific application needs, which is not limited specifically herein.

[0150] In addition, the memory 22 as the carrier of resource storage can be read-only memory, random access memory, disk or optical disk, etc., and the resources stored thereon can include operating system 221, computer program 222, etc., and the storage mode can be temporary storage or permanent storage.

[0151] Wherein, the operating system 221 is used for managing and controlling each hardware device on the electronic device 20 and the computer program 222, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program capable of completing the satellite observation quality detection method executed by the electronic device 20 disclosed in any of the preceding embodiments, the computer program 222 can further include computer programs capable of completing other specific work.

[0152] Further, the present application further discloses a computer readable storage medium for storing computer programs; wherein the computer programs are executed by the processor to realize the satellite observation quality detection method disclosed in the preceding embodiment. The specific steps of the method can refer to the corresponding contents disclosed in the preceding embodiment, which will not be repeated here.

[0153] The various embodiments described in the specification are progressive in nature, and each embodiment highlights the differences from other embodiments. The same or similar parts among the various embodiments can be mutually referred to. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method.

[0154] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or both. To clearly illustrate the interchangeability of hardware and software, the description has generally been described in terms of exemplary components and steps that can comprise functionality implemented in hardware and / or software. Whether such functionality is implemented in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled persons can implement the described functionality in varying ways for each particular application, but such implementation should not be interpreted to change the scope of the application.

[0155] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0156] Finally, it should be noted that the terms such as first and second, etc. are used herein only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or other elements inherent in such a process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus including the element.

[0157] The above describes the technical solutions provided by the present application in detail, and the principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and the above description of the specification should not be understood as limiting the present application.

Claims

1. A method for detecting quality of satellite observations, characterized by, The method comprises the following steps: obtaining target satellite parameters of a currently detected satellite, and obtaining a correlation mapping table corresponding to the currently detected satellite according to the target satellite parameters; the correlation mapping table records a reference satellite of the currently detected satellite; performing pseudorange quality analysis and carrier quality analysis on the currently detected satellite according to the correlation mapping table, or performing pseudorange quality analysis on the currently detected satellite according to the correlation mapping table to determine whether the observation quality of the currently detected satellite meets a preset condition; if the observation quality of the currently detected satellite does not meet the preset condition, reducing the observation quality level of the currently detected satellite; wherein, the pseudorange quality analysis on the currently detected satellite comprises: performing observation quality detection on the currently detected satellite from coarse to fine by respectively analyzing the intra-week second pseudorange, second pseudorange, millisecond pseudorange, chip pseudorange and pseudorange residual of the currently detected satellite.

2. The method of claim 1, wherein, The method comprises the following steps: obtaining target satellite parameters of a currently detected satellite, and obtaining a correlation mapping table corresponding to the currently detected satellite according to the target satellite parameters; obtaining satellite parameters of the currently detected satellite, including satellite system, satellite frequency band and satellite number, and establishing a correlation mapping table corresponding to the currently detected satellite according to the satellite system and the satellite number; or, obtaining satellite parameters of the currently detected satellite, including satellite system, satellite frequency band and satellite number, and searching for a previously established correlation mapping table corresponding to the currently detected satellite according to the satellite system and the satellite number; 3. The quality inspection method for satellite observations according to claim 1, characterized in that, correspondingly, the correlation mapping table is used to record a plurality of satellites with the same satellite number and different satellite frequency bands in the same satellite system, and the plurality of satellites include the currently detected satellite and the reference satellite. The pseudorange quality analysis on the currently detected satellite according to the correlation mapping table comprises: obtaining the satellite system corresponding to the currently detected satellite according to the correlation mapping table; determining a plurality of associated satellites belonging to the same satellite system as the currently detected satellite according to the satellite system; judging whether the intra-week second pseudorange difference between the intra-week second pseudorange of the currently detected satellite and the intra-week second pseudorange of the associated satellites exceeds a preset difference threshold; 4. The method of claim 1, wherein, if the preset difference threshold is exceeded, it is determined that the observation quality of the currently detected satellite does not meet the preset condition. The pseudorange quality analysis on the currently detected satellite according to the correlation mapping table further comprises: obtaining a second pseudorange reference value corresponding to the reference satellite according to the correlation mapping table, and judging whether the second pseudorange of the currently detected satellite is consistent with the second pseudorange reference value of the reference satellite; if not consistent, judging whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the currently detected satellite; if the observation quality level of the reference satellite is higher than the observation quality level corresponding to the currently detected satellite, it is determined that the observation quality of the currently detected satellite does not meet the preset condition.

5. The method of claim 1, wherein, The pseudo-range quality analysis of the current detection satellite according to the correlation mapping table further includes: The millisecond pseudo-range reference value corresponding to the reference satellite is obtained according to the correlation mapping table, and it is judged whether the millisecond pseudo-range of the current detection satellite is consistent with the millisecond pseudo-range reference value of the reference satellite; If not, it is judged whether the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite; If the observation quality level of the reference satellite is higher than the observation quality level corresponding to the current detection satellite, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

6. The method of claim 1, wherein, The pseudo-range quality analysis of the current detection satellite according to the correlation mapping table further includes: It is judged whether the chip pseudo-range of the current detection satellite meets a preset stable condition; If the preset stable condition is not met, the observation quality level of the current detection satellite is lowered based on a preset level lowering rule, and the pseudo-range residual error of the current detection satellite is determined; If the preset stable condition is met, the pseudo-range residual error of the current detection satellite is directly determined; When the pseudo-range residual error of the current detection satellite exceeds a preset pseudo-range residual error threshold, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

7. The method of claim 1, wherein, The carrier quality analysis of the current detection satellite according to the correlation mapping table includes: The Doppler value corresponding to the reference satellite is obtained according to the correlation mapping table to determine the corresponding Doppler reference value; It is judged whether the Doppler difference between the Doppler value of the current detection satellite and the Doppler reference value of the reference satellite exceeds a preset range; If yes, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

8. The method of claim 1 to 7, wherein, The carrier quality analysis of the current detection satellite according to the correlation mapping table further includes: It is judged whether the cycle slip of the current detection satellite exists a flip; If the flip exists, the observation quality level of the current detection satellite is lowered based on a preset level lowering rule, and the carrier residual error of the current detection satellite is determined; If the flip does not exist, the carrier residual error of the current detection satellite is directly determined; When the carrier residual error of the current detection satellite exceeds a preset carrier residual error threshold, it is determined that the observation quality of the current detection satellite does not meet the preset condition.

9. A quality detection device of a satellite observation, characterized by, It includes: A parameter acquisition module is configured to acquire target satellite parameters of a current detection satellite, and acquire a correlation mapping table corresponding to the current detection satellite according to the target satellite parameters; The correlation mapping table records reference satellites of the current detection satellite; A quality analysis module is configured to perform pseudo-range quality analysis and carrier quality analysis of the current detection satellite according to the correlation mapping table, or perform pseudo-range quality analysis of the current detection satellite according to the correlation mapping table to determine whether the observation quality of the current detection satellite meets a preset condition; A level lowering module is configured to lower the observation quality level of the current detection satellite when the observation quality of the current detection satellite does not meet the preset condition. The quality analysis module performs pseudo-range quality analysis on the current detected satellite, including performing analysis on the intra-week second pseudo-range, second pseudo-range, millisecond pseudo-range, chip pseudo-range and pseudo-range residual of the current detected satellite respectively, and performing coarse-to-fine quality detection on the observation of the current detected satellite.

10. An electronic device, comprising: The method comprises: a memory for storing a computer program; a processor for executing the computer program to implement the satellite observation quality detection method according to any one of claims 1 to 8.

11. A computer readable storage medium, characterized in that, a memory for storing a computer program, which, when executed by a processor, implements the satellite observation quality detection method according to any one of claims 1 to 8.

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