Fault detection method, device, storage medium and program product

Abstract

Embodiments of the present application provide a fault detection method, device, storage medium and program product. The method comprises obtaining a target process quantity of a target satellite in a calculation process of a target UPD product, the calculation process comprising a PPP solving process or a UPD estimation process, and the UPD product being obtained based on a wide / narrow lane step-by-step fixing method. The target process quantity is analyzed to determine fault information of the UPD product. The fault detection method provided by the embodiments of the present application can more accurately and timely find the fault of the UPD product by analyzing the process quantity in the process of calculating the UPD product and finding the abnormality of the process quantity.

Description

Technical Field

[0001] This application relates to the field of navigation and positioning technology, and in particular to a fault detection method, device, storage medium, and program product. Background Technology

[0002] Precise point positioning (PPP) is finding increasingly wider applications. A key factor in achieving PPP ambiguity resolution (PPP-AR) is obtaining accurate and stable uncalibrated phase delay (UPD) products. Therefore, fault detection of UPD products is a crucial step.

[0003] In related technologies, the analysis is usually conducted from the perspective of the stability of the UPD estimation results or the positioning accuracy of the station.

[0004] However, in the process of realizing this application, the inventors discovered that the prior art has at least the following problems: the above method can only identify faults when there are large deviations in the UPD product, and the accuracy of fault identification is low. Summary of the Invention

[0005] This application provides a fault detection method, device, storage medium, and program product to improve the accuracy of fault identification in UPD products.

[0006] In a first aspect, embodiments of this application provide a fault detection method, including:

[0007] The target station corresponding to the UPD product of the target satellite is used to calculate the target process quantity in the calculation process; the UPD product is obtained based on the wide and narrow lane stepwise fixing method; the calculation process includes PPP solution process or UPD estimation process.

[0008] The target process quantity is analyzed to determine the fault information of the UPD product.

[0009] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the target observations corresponding to the target station and the target satellite; the target observations are pseudorange or carrier waves; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0010] Construct the first single-difference sequence between epochs based on the target observations;

[0011] Based on a sliding window of preset length, a quadratic term curve is fitted to the first single-difference sequence to obtain the quadratic term curve;

[0012] Determine the quadratic difference sequence between the first single difference sequence and the quadratic term curve;

[0013] The mean error of the first preset multiple of the quadratic difference sequence is determined as the first probe measurement;

[0014] If there is a value in the quadratic difference sequence that is greater than the first detection value, it is determined that there is an anomaly in the target observation, and fault information of the UPD product is generated based on the anomaly.

[0015] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the code offset products corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0016] Construct a second single-difference sequence between epochs based on the code deviation product;

[0017] Based on a preset reference value, determine the second probe measurement of the second single-difference sequence;

[0018] The second single-difference sequence is probed based on the second probe measurement to determine the fault information of the UPD product.

[0019] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the clock bias corresponding to the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0020] Construct the third single-difference sequence of the clock bias of the target satellite between epochs;

[0021] The third single-difference sequence is probed to determine the fault information of the UPD product.

[0022] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the satellite position corresponding to the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0023] Obtain the first solution result and velocity information of the target satellite's position in the previous epoch, and the second solution result of the satellite's position in the current epoch;

[0024] Based on the interpolation algorithm, the predicted value of the satellite position of the target satellite at the current epoch is determined according to the first solution result and velocity information;

[0025] Based on the difference between the predicted value and the second solution result, a third single-difference sequence of the satellite position of the target satellite is determined.

[0026] The third single-difference sequence is probed to determine the fault information of the UPD product.

[0027] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the SPP / PPP positioning residuals corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0028] Determine the root mean square error and standard deviation of the positioning residuals;

[0029] If the difference between the root mean square error and the standard deviation is greater than or equal to a preset difference, then the antenna information and the station reference position are obtained, and the fault information of the UPD product is determined based on the antenna information and the station reference position.

[0030] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the position accuracy sequence corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0031] Obtain the position precision sequence;

[0032] Determine the location interruption position of the location accuracy sequence, and determine the fault information of the UPD product based on the location interruption position.

[0033] In one possible design, if the calculation process includes a PPP solution process, then the target process quantity includes the satellite number sequence corresponding to the target station; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0034] Obtain the satellite number sequence;

[0035] Determine the difference between adjacent values ​​in the satellite number sequence;

[0036] Based on the difference and the preset quantity, the fault information of the UPD product is determined.

[0037] In one possible design, if the calculation process includes a UPD estimation process, then the target process quantity includes the ambiguity sequences corresponding to the target station and the target satellite; the ambiguity sequence is a floating-point wide-lane ambiguity sequence or an ionospheric-free ambiguity sequence; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0038] Obtain the ambiguity sequence;

[0039] The error of the second preset multiple of the ambiguity sequence is determined as the second probe measurement;

[0040] Based on the second probe measurement, the ambiguity sequence is probed to determine the fault information of the UPD product.

[0041] In one possible design, if the calculation process includes a UPD estimation process, then the target process quantity includes the total number of stations, the number of stations actually received, the number of stations actually used, and the number of stations that passed the residual test; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0042] Based on the total number of stations and the actual number of stations receiving data, determine the number of stations with network latency.

[0043] The station quality inspection pass rate is determined based on the actual number of stations received and the actual number of stations used.

[0044] The station residual test pass rate is determined based on the actual number of stations used and the number of stations that passed the residual test.

[0045] The fault information of the UPD product is determined based on the number of stations with network latency, the pass rate of the station quality inspection, and the pass rate of the station residual inspection.

[0046] In one possible design, if the calculation process includes a UPD estimation process, then the target process quantity includes the reference satellite sequence corresponding to the target station; the analysis of the target process quantity to determine the fault information of the UPD product includes:

[0047] Obtain the reference star sequence;

[0048] Perform inter-epoch difference calculus on the reference star sequence to obtain the reference star single difference sequence;

[0049] Based on the non-zero values ​​in the reference star single difference sequence, the fault information of the UPD product is determined.

[0050] In one possible design, after analyzing the target process quantity and determining the fault information of the UPD product, the method further includes:

[0051] Obtain the time series of the fractional part of the UPD product of the target satellite;

[0052] The positions between adjacent epochs in the time series where the difference is greater than a preset threshold are determined as dividing lines, and the time series is segmented according to the dividing lines to obtain multiple sequence segments;

[0053] The weighted sum of the standard deviations of the multiple sequence segments is determined as the total standard deviation of the time series, and the fault information of the UPD product of the target satellite is determined based on the total standard deviation. Alternatively, the number of valid segments in the multiple sequence segments is determined based on the number of epochs of the multiple sequence segments, and the fault information of the UPD product of the target satellite is determined based on the ratio between the number of valid segments and the total number of the multiple sequence segments.

[0054] In one possible design, after determining the fault information of the target satellite's UPD product, the process further includes:

[0055] Determine the fault information of the UPD products of the remaining satellites other than the target satellite among multiple satellites;

[0056] Based on the fault information of the UPD products of multiple satellites, determine the number of valid satellites corresponding to each of the multiple epochs;

[0057] Construct a satellite number sequence based on the number of valid satellites corresponding to each of the multiple epochs;

[0058] The pass rate of the UPD product is determined based on the preset number of satellites and the satellite number sequence.

[0059] In one possible design, before the target station corresponding to the UPD product of the target satellite is obtained, the process further includes:

[0060] Obtain the actual coordinates of multiple stations in the station network and construct an initial triangulation network;

[0061] Based on the baseline length and triangle area in the triangulation network, the stations in the triangulation network are optimized to obtain multiple optimized stations; the target station is one of the multiple optimized stations.

[0062] Secondly, embodiments of this application provide a fault detection device, comprising:

[0063] The acquisition module is used to acquire the target process quantities of the target station corresponding to the UPD product of the target satellite in the calculation process; the UPD product is obtained based on the wide and narrow lane stepwise fixing method; the calculation process includes the PPP solution process or the UPD estimation process.

[0064] The processing module is used to analyze the target process quantity and determine the fault information of the UPD product.

[0065] Thirdly, embodiments of this application provide a fault detection device, comprising: at least one processor and a memory;

[0066] The memory stores computer-executed instructions;

[0067] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect above and various possible designs of the first aspect.

[0068] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the first aspect and various possible designs of the first aspect.

[0069] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect and various possible designs of the first aspect.

[0070] This embodiment provides a fault detection method, device, storage medium, and program product. The method includes acquiring the target process quantity of the target station corresponding to the UPD product of the target satellite during the calculation process. The UPD product is obtained based on the wide-narrow lane stepwise fixing method. The calculation process includes a PPP solution process or a UPD estimation process. The target process quantity is analyzed to determine the fault information of the UPD product. The fault detection method provided in this embodiment analyzes the process quantity during the calculation of the UPD product, detects anomalies in the process quantity, and determines the fault status of the UPD product, enabling more accurate and timely detection of UPD product faults. Attached Figure Description

[0071] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0072] Figure 1 A schematic diagram of a scenario for the fault detection method provided in the embodiments of this application;

[0073] Figure 2 Flowchart of the fault detection method provided in the embodiments of this application Figure 1 ;

[0074] Figure 3 Flowchart of the fault detection method provided in the embodiments of this application Figure 2 ;

[0075] Figure 4 This is a schematic diagram of the structure of the fault detection device provided in the embodiments of this application;

[0076] Figure 5 This is a schematic diagram of the hardware structure of the fault detection device provided in the embodiments of this application. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0078] It should be noted that the fault detection method and apparatus provided in this application can be used in the field of navigation and positioning, or in any field other than navigation and positioning. The application field of the fault detection method and apparatus provided in this application is not limited.

[0079] Precise Point Positioning (PPP) offers the advantage of achieving high-precision positioning with a single receiver and has been widely used in scientific and civilian fields. However, traditional floating-point PPP requires a convergence process of tens of minutes to achieve centimeter-level positioning accuracy, thus severely limiting its application scope. To improve positioning accuracy and shorten convergence time, achieving Precise Point Positioning Ambiguity Resolution (PPP-AR) has become a research hotspot in recent years. A key factor for successful ambiguity resolution is obtaining a correct and stable uncalibrated phase delay (UPD) product.

[0080] In related technologies, analysis can be conducted from the perspective of the stability of UPD estimation results or the positioning accuracy of the station. For example, the stability of UPD products can be analyzed by statistically analyzing the standard deviation of the UPD time series of each satellite to determine whether there is a divergence problem.

[0081] However, the above methods can only identify faults when there are significant deviations in the UPD product, and cannot pinpoint the root cause of the fault. This offers limited assistance to developers in troubleshooting. Specifically, when analyzing the stability of UPD products using a regional station network, relying solely on the UPD standard deviation carries the risk of misjudgment. For example, when a reference satellite must be switched due to being unobservable, it may cause an overall jump in the UPD sequence. Since users typically perform an inter-satellite interpolation of the UPD during positioning, eliminating the impact of this overall jump, the traditional UPD standard deviation method will misjudge this phenomenon as a fault.

[0082] To address the aforementioned technical problems, the inventors of this application have developed an algorithm for UPD estimation: a wide-lane (WL) and narrow-lane (NL) stepwise fixing method. This algorithm primarily includes multi-station PPP solution and UPD estimation calculations. The calculation process involves multiple process variables, and analyzing these variables can help determine if any anomalies exist, thereby accurately and promptly identifying the fault status of the UPD product. Specifically, the multi-station PPP solution calculation process mainly includes station selection, satellite information calculation, station information solution, and floating-point ambiguity output. The UPD estimation calculation process mainly includes selecting a reference satellite, fixing the wide-lane ambiguity, and fixing the narrow-lane ambiguity. Based on this, this application provides a fault detection method.

[0083] Figure 1 This is a schematic diagram illustrating a scenario for the fault detection method provided in an embodiment of this application. For example... Figure 1 As shown, terminal device 101 is communicatively connected to server 102. Terminal device 101 can be a desktop or handheld device, such as a computer or tablet. Server 102 is used to store UPD products from multiple satellites and the corresponding process quantities. Optionally, server 102 can be a vendor-side server for providing UPD product services, and terminal device 101 can be a user-side terminal device for UPD products.

[0084] In the specific implementation process, server 102 estimates the UPD products of multiple satellites based on the wide-lane and narrow-lane stepwise fixing method, according to the observation data of multiple stations within the station network, and stores the UPD products and corresponding process quantities. Terminal device 101 can obtain the target process quantity of the target station corresponding to the UPD product of the target satellite in the calculation process through network communication. The target satellite can be any one of the multiple satellites, and the target station can be any one of the multiple stations. The target process quantity is analyzed to determine the fault information of the UPD product. The fault detection method provided in this application embodiment analyzes the process quantity in the process of calculating the UPD product, discovers the anomaly of the process quantity, and determines the fault status of the UPD product, which can more accurately and timely detect the fault of the UPD product.

[0085] It should be noted that, Figure 1 The schematic diagram shown is merely an example. The description of the fault detection method and scenario in this application is intended to more clearly illustrate the technical solution of this application, and does not constitute a limitation on the technical solution provided in this application. As those skilled in the art will know, with the evolution of the system and the emergence of new business scenarios, the technical solution provided in this application is also applicable to similar technical problems.

[0086] The technical solutions of this application will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0087] Figure 2 Flowchart of the fault detection method provided in the embodiments of this application Figure 1 .like Figure 2 As shown, the method includes:

[0088] 201. Obtain the target process quantity of the target station corresponding to the UPD product of the target satellite in the calculation process; the UPD product is obtained based on the wide and narrow lane stepwise fixing method, and the calculation process includes the PPP solution process or the UPD estimation process.

[0089] The execution entity in this embodiment can be a terminal device or a server, for example. Figure 1 The terminal device shown.

[0090] Specifically, the wide-narrow alleyway stepwise fixing method is a commonly used algorithm for UPD estimation. The estimation of UPD products for multiple satellites based on this method mainly includes two processes: multi-station PPP solution and UPD estimation. Multi-station PPP solution primarily involves station selection, satellite information calculation, station information solution, and outputting floating-point ambiguities. UPD estimation mainly involves selecting a reference satellite, fixing the wide-lane ambiguity, and fixing the narrow-lane ambiguity. Although the ionospheric-free combination is used to weaken the ionospheric influence during the estimation process, it is still affected by environmental factors such as multipath propagation, leading to problems such as divergence, interruption, jumps, and drift in the results. Quickly and accurately identifying these problems and locating their root causes can drive rapid iterative optimization of the algorithm.

[0091] Based on this, in this embodiment, the process quantities in the calculation process can be analyzed. In the specific analysis process, each station can be checked one by one. For example, if the station network includes three stations a, b, and c, and multiple satellites include three satellites A, B, and C, then station a includes the process quantities and corresponding UPD product results for aA, aB, and aC; station b includes the process quantities and corresponding UPD product results for bA, bB, and bC; and station c includes the process quantities and corresponding UPD product results for cA, cB, and cC. In this embodiment, all combinations of stations and satellites can be checked, or only some combinations can be checked. The specific settings can be configured according to actual needs (for example, if some combinations of stations and satellites have been confirmed to be problem-free, then this check can exclude those combinations). This embodiment does not limit this.

[0092] For example, regarding the specific process variables selected, considering that the floating-point ambiguity of the PPP output is the data source for UPD estimation, its stability directly affects the accuracy of the UPD product. Therefore, gross error detection measures for pseudorange, carrier, and code bias (Observable-specific Bias, OSB) products can be constructed, and epoch-level differences can be performed on satellite positions and clock errors to analyze the accuracy of the input data for PPP solution at each station. Then, the SPP / PPP positioning residual, satellite number, and Position Dilution of Precision (PDOP) are analyzed to determine whether there are any faults in the PPP solution process. Finally, gross error check measures for the Melbourne-Wübeena combination and ionospheric floating-point ambiguity are constructed to identify problems in the input data for UPD estimation.

[0093] Furthermore, considering that UPD comprises both the satellite end and the receiver end, both parts are treated as unknown parameters during the estimation process. Frequent changes in the number of input stations and the accuracy of the station data directly affect the selection of the reference satellite, leading to instability in the calculated satellite UPD product. Therefore, this embodiment analyzes the number of input stations at each epoch and the number of remaining stations after quality checks to quickly identify problems in the input data. Simultaneously, it checks the time series stability of the reference satellite to quickly pinpoint the root cause of jumps in the UPD.

[0094] It should be noted that all of the process quantities selected above can be investigated during the investigation process, or only a portion of the process quantities can be selected for investigation. The specific selection can be made according to actual needs, and this embodiment does not limit this.

[0095] 202. Analyze the target process quantity to determine the fault information of the UPD product.

[0096] Specifically, based on the selection of the above process quantities, the process quantities can be analyzed according to their characteristics to find abnormal situations that do not conform to the characteristics, and then the fault information of the UPD product can be determined.

[0097] The fault detection method provided in this embodiment analyzes the process quantities in the process of calculating UPD products, discovers abnormalities in the process quantities, and determines the fault status of UPD products, which can more accurately and timely detect faults in UPD products.

[0098] In some embodiments, process quantities in the PPP solution process can be investigated. The calculation process includes the PPP solution process; the target process quantity includes the first process quantity in the PPP solution process. The first process quantity corresponding to the PPP solution process may include target observations of the target station to the target satellite (e.g., pseudorange or carrier), code offset products, satellite position and clock error, SPP / PPP positioning residual, position geometric accuracy, number of satellites, etc.

[0099] The following examples illustrate the analysis process of each process quantity in the first process quantity corresponding to the PPP solution process.

[0100] In some embodiments, the first process quantity includes target observations corresponding to the target station and the target satellite; analyzing the target process quantity to determine the fault information of the UPD product may include: constructing a first single-difference sequence between epochs based on the target observations; performing quadratic term curve fitting on the first single-difference sequence based on a sliding window of a preset length to obtain a quadratic term curve; determining the quadratic difference sequence between the first single-difference sequence and the quadratic term curve, and probing the quadratic difference sequence to determine the fault information of the UPD product. Probing the quadratic difference sequence to determine the fault information may include: determining the mean square error of a first preset multiple of the quadratic difference sequence as the first probe quantity; if there is a value in the quadratic difference sequence greater than the first probe quantity, then determining that the target observation has an anomaly, and generating the fault information of the UPD product based on the anomaly. Optionally, the target observation is pseudorange or carrier.

[0101] Specifically, the pseudorange and carrier single-difference sequences for each station can be constructed according to the following formula (1). In the absence of cycle slips, based on the actual physical meaning of pseudorange and carrier, their time series are continuous and periodically changing smooth curves. Therefore, the difference D between adjacent epochs... P D L The resulting sequence is theoretically a smooth curve. For example, a sliding window of length A1 can be used, and a quadratic curve fit can be performed on the single-difference sequence within the window. Using the fitted curve as a reference, the quadratic difference sequence between the single-difference sequence D and the fitted curve is calculated. Then, the quadratic difference sequence can be probed using three times the standard error of this quadratic difference sequence. If a value greater than the probe value is found in the quadratic difference sequence, a problem can be identified in the observed data. For OSB (Operational Standard Bias), its variation is only related to hardware performance. Therefore, OSB changes relatively little in a short period. A value of 0 can be used as a reference to construct a probe value for the single-difference sequence between OSB epochs to determine whether the real-time OSB data stream is normal. For example, if a value greater than the reference value 0 exists in the sequence, a fault is identified.

[0102]

[0103] In some embodiments, the first process quantity includes the code deviation products corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product may include: constructing a second single difference sequence between epochs based on the code deviation product; determining a second probe measurement of the second single difference sequence based on a preset reference value; and probing the second single difference sequence based on the second probe measurement to determine the fault information of the UPD product.

[0104] In some embodiments, the first process quantity includes satellite parameters corresponding to the target satellite; the step of analyzing the target process quantity to determine the fault information of the UPD product may include: constructing a third single-difference sequence of the satellite parameters; and probing the third single-difference sequence to determine the fault information of the UPD product.

[0105] In some embodiments, satellite parameters include satellite position; constructing a third single-difference sequence of the satellite parameters may include: obtaining a first solution result and velocity information of the satellite position of the target satellite in the previous epoch, and a second solution result of the satellite position in the current epoch; determining a predicted value of the satellite position of the target satellite in the current epoch based on an interpolation algorithm, according to the first solution result and velocity information; and determining a third single-difference sequence of the satellite position of the target satellite based on the difference between the predicted value and the second solution result.

[0106] In some embodiments, satellite parameters include clock bias; constructing a third single-difference sequence of the satellite parameters may include: constructing a third single-difference sequence of the clock bias of the target satellite between epochs.

[0107] In some embodiments, probing the third single-difference sequence to determine the fault information of the UPD product may include: probing the third single-difference sequence to obtain a probing result; if the probing result indicates that there is a deviation in the satellite parameters, then obtaining the satellite parameters of the target satellite corresponding to any station among multiple stations other than the target station, constructing an inter-station difference sequence of the satellite parameters, probing the inter-station difference sequence to determine the fault information of the UPD product.

[0108] Specifically, according to formula (2), the satellite position of the current epoch can be extrapolated using the satellite velocity calculated by real-time interpolation, and the difference between this extraochet and the satellite position calculated in real-time at this epoch can be used to obtain the single difference sequence of satellite position. Using a constant A2 as the probe, if a jump point is detected in the single difference sequence of position, the calculation result of the satellite position or velocity at the current epoch is abnormal. For the clock difference data calculated in real-time, there is theoretically a certain benchmark, and the result after single difference between epochs will fluctuate around a certain constant value. Therefore, the mean of the clock difference single difference sequence can be used as a reference to calculate three times the standard error of the single difference sequence, and used to detect whether there is a jump point in the clock difference sequence. If there is a deviation between the satellite position and the clock difference, it is necessary to further construct the inter-station difference sequence of the satellite. Since all stations in the station network use the same data source when calculating satellite information and clock difference, it can be determined from the inter-station single difference sequence whether there is a problem with the data source or a single station calculation error.

[0109]

[0110] Where x(t1), y(t1), and z(t1) represent the satellite's coordinates at the current time t1 in the x, y, and z directions, respectively; t0 is the previous time; Dx, Dy, and Dz are the single-difference sequences constructed in the x, y, and z directions; Δt is the sampling interval; v x v y v z This indicates the satellite's speed in three directions.

[0111] In some embodiments, the first process quantity includes the SPP / PPP positioning residuals corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product may include: determining the root mean square error and standard deviation of the positioning residuals; if the difference between the root mean square error and the standard deviation is greater than or equal to a preset difference, then antenna information and station reference position are obtained, and the fault information of the UPD product is determined based on the antenna information and the station reference position.

[0112] Specifically, the root mean square error (RMS) and standard deviation (STD) of the SPP / PPP positioning residual sequence can be calculated according to formula (3). Theoretically, RMS and STD should be equal. If there is a difference between the RMS and STD values, it indicates that there is a constant term deviation in the positioning residual sequence, and it is necessary to further investigate whether the antenna information and station reference position used during positioning are correct.

[0113]

[0114] Where δ is the positioning residual; The value is the mean of the residuals; n is the number of epochs in the statistics.

[0115] In some embodiments, the first process quantity includes the position accuracy sequence corresponding to the target station and the target satellite; the step of analyzing the target process quantity to determine the fault information of the UPD product may include: acquiring the position accuracy sequence; determining the positioning interruption location of the position accuracy sequence, and determining the fault information of the UPD product based on the positioning interruption location.

[0116] In some embodiments, the first process quantity includes the satellite number sequence corresponding to the target station; the step of analyzing the target process quantity to determine the fault information of the UPD product may include: acquiring the satellite number sequence; determining the difference between adjacent values ​​in the satellite number sequence; and determining the fault information of the UPD product based on the difference and a preset quantity.

[0117] Specifically, considering that positioning interruption will directly result in no floating-point ambiguity generation for the station, and a sudden decrease in the number of satellites will also reduce the number of observation equations during UPD estimation, both of which affect the stability of UPD, the Position Dilution of Precision (PDOP) sequence and the satellite count sequence can be analyzed to check for positioning interruption and sudden decrease in the number of satellites. For example, positioning interruption can be determined by detecting whether there are missing values ​​in the PDOP sequence, such as the number of consecutive missing values ​​and the epoch corresponding to the missing data. A sudden decrease in the number of satellites can be detected by comparing a preset number with the difference in the number of satellites at adjacent epochs in the satellite count sequence; if the difference is greater than the preset number, a sudden decrease is determined to have occurred.

[0118] In some embodiments, process quantities in the UPD estimation process can be investigated. The calculation process includes the UPD estimation process; the target process quantity includes the second process quantity in the UPD estimation process. The second process quantity corresponding to the UPD estimation process may include the floating-point wide-lane ambiguity sequence, the ionospheric ambiguity sequence, the total number of stations, the number of stations actually receiving data, the number of stations actually used, the number of stations that passed the residual test, and reference satellites, etc., corresponding to the target station and the target satellite.

[0119] The following examples illustrate the analysis process of each process quantity in the second process quantity corresponding to the UPD estimation process.

[0120] In some embodiments, the second process quantity includes the floating-point wide-lane ambiguity sequence corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product may include: acquiring the floating-point wide-lane ambiguity sequence; determining the mean square error of the floating-point wide-lane ambiguity sequence by a second preset multiple as the second probe measurement; and probing the floating-point wide-lane ambiguity sequence based on the second probe measurement to determine the fault information of the UPD product.

[0121] In some embodiments, the second process quantity includes the ionospheric ambiguity sequence corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product may include: acquiring the ionospheric ambiguity sequence; determining the mean error of the ionospheric ambiguity sequence by a third preset multiple as the third probe measurement; and probing the ionospheric ambiguity sequence based on the third probe measurement to determine the fault information of the UPD product.

[0122] Specifically, formula (4) is the calculation model for PPP to solve floating-point wide-lane ambiguity. From the model, it can be seen that the floating-point wide-lane ambiguity will stabilize near a certain constant after mean smoothing. The expression for ionospheric floating-point ambiguity is shown in formula (5). It can be seen that in a cycle-slip-free arc segment, B... IF The time series will also maintain a horizontal linear trend. Therefore, it is possible to construct floating-point wide-lane ambiguity and ionospheric ambiguity gross differential probes. Specifically, B can be used. IF B w Using a three-fold mean square error (MSE) measurement of the sequence can detect abnormal changes in the sequence. If phenomena such as jumps, interruptions, or drifts are present, the location of the fault can be directly pinpointed using the UPD (Upskill Device) estimation.

[0123]

[0124] Among them, B w =B1-B2 is the combined MW ambiguity; λ w =C / (λ1-λ2) is the combined wavelength; C is the speed of light; λ1 and λ2 are the carrier wavelengths with frequencies f1 and f2, respectively; It is the mean of the MW combined ambiguity of the first i epochs in the cycle-slip-free observation arc.

[0125]

[0126] Among them, B IF For ionosphere-free floating-point ambiguity; λ NL =C / (f1+f2) is the narrow-lane wavelength; The wide-lane floating-point ambiguity includes the wide-lane integer part N. WL The fractional part of the phase delay at the satellite end and the receiver end UPD r,WL .

[0127] In some embodiments, the second process quantity includes the total number of stations, the number of stations actually received, the number of stations actually used, and the number of stations that passed the residual test. Analyzing the target process quantity to determine the fault information of the UPD product may include: determining the number of stations with network latency based on the total number of stations and the number of stations actually received; determining the station quality inspection pass rate based on the number of stations actually received and the number of stations actually used; determining the station residual inspection pass rate based on the number of stations actually used and the number of stations that passed the residual test; and determining the fault information of the UPD product based on the number of stations with network latency, the station quality inspection pass rate, and the station residual inspection pass rate.

[0128] Specifically, in the PPP solution process, formula (6) is a commonly used UPD estimation model, and this model has a rank deficiency problem, so a constraint equation needs to be added during the actual solution. After substituting the floating-point wide lane ambiguity calculated by formula (4) into formula (6), the wide lane UPD is calculated, and then the integer wide lane is obtained. Then, the integer wide lane and the floating-point non-ionospheric ambiguity calculated by formula (5) are substituted into formula (7) to obtain the floating-point narrow lane. Finally, the floating-point narrow lane is substituted into formula (6) to obtain the narrow lane UPD. It can be seen that the quantity and quality of the floating-point wide lane and floating-point non-ionospheric ambiguity received in real time directly affect the estimation of UPD. As for the ambiguity quality, it has been verified in the embodiments corresponding to the above formulas (4) and (5). In terms of quantity, the number of stations actually received by the UPD algorithm, the number of stations actually used, and the number of stations that passed the residual test can be counted. The actual number of stations used refers to the number of stations that passed quality verification after receiving data. Quality verification is typically based on thresholds such as elevation angle, lock-in duration, and ambiguity standard deviation. The number of stations that passed residual verification is the number of stations that passed residual verification after inputting the actual number of stations used into the model used to generate the UPD product. Comparing the actual number of stations received with the total number of stations in the network allows us to determine if any stations failed to transmit floating-point ambiguity data in a timely manner due to network latency or other factors. Simultaneously, comparing the number of received stations with the actual number of stations used allows us to check the station quality verification pass rate for the current epoch. If the station quality verification pass rate is low, the PPP solution accuracy for the current epoch is considered low. The ratio of the number of stations that passed residual verification to the actual number of stations used allows us to determine the station residual verification pass rate. For example, if the station residual verification pass rate is less than a preset value (e.g., 80%), it is considered unqualified and indicates a fault. For example, assuming there are a total of 10 stations in the network, due to network latency and other reasons, only data from 8 stations can be received. After quality verification of the received data from the 8 stations, it is found that 6 are actually usable. After residual verification of the data from the 6 actually usable stations, it is found that 5 pass the residual verification. Therefore, the total number of stations is 10, the number of stations actually received is 8, the number of stations actually used is 6, and the number of stations that passed the residual verification is 5.

[0129]

[0130]

[0131] Where R and S are UPD respectively r,WL , The coefficient matrix of B; NL Floating-point narrow alley ambiguity.

[0132] In some embodiments, the second process quantity includes the reference satellite sequence corresponding to the target station; the step of analyzing the target process quantity to determine the fault information of the UPD product may include: acquiring the reference satellite sequence; performing inter-epoch difference on the reference satellite sequence to obtain a reference satellite single difference sequence; and determining the fault information of the UPD product based on the non-zero values ​​in the reference satellite single difference sequence.

[0133] Specifically, during the UPD estimation process, a satellite is selected as a reference satellite only if its elevation angle reaches a threshold and it has been continuously observed for a long period. Therefore, the reference satellite will not be frequently switched in a short period of time. The information of the reference satellite selected during the estimation process (e.g., satellite number, usually a number) is output, and the reference satellite sequence is differentially analyzed between epochs to construct a single-difference sequence for the reference satellite. If there are many non-zero values ​​in the single-difference sequence (i.e., the reference satellite changes frequently), it can be judged as an abnormal reference satellite switching. In this case, the reference satellite can be fed back to the developers so that they can conduct targeted troubleshooting according to the steps for analyzing each process quantity described in the above embodiment. For example, assuming the reference satellite sequence is 111133334442, the corresponding single-difference sequence is 000-2000-1002, which shows that the reference satellite has switched 3 times, corresponding to 3 non-zero values ​​in the single-difference sequence. The number of non-zero values ​​can be used to analyze whether there is an abnormal switching of the reference satellite.

[0134] In some embodiments, considering that traditional methods for identifying UPD product faults based on UPD standard deviation cannot avoid the impact of overall jumps and are prone to misjudgment, this embodiment proposes a method of segmenting the UPD sequence and taking the weighted average of the standard deviations of each segment. Specifically, the time series of the fractional part of the UPD product of the target satellite is obtained; the positions between adjacent epochs in the time series where the difference is greater than a preset threshold are determined as dividing lines, and the time series is segmented according to the dividing lines to obtain multiple sequence segments; the weighted sum of the standard deviations of the multiple sequence segments is determined as the total standard deviation of the time series; and the fault information of the UPD product of the target satellite is determined according to the total standard deviation.

[0135] In some embodiments, the occurrence of a fault can also be determined based on the proportion of valid segments. Specifically, based on the above embodiment of segmenting the UPD sequence, the number of valid segments in the plurality of sequence segments can be determined according to the number of epochs of the plurality of sequence segments; and the fault information of the UPD product of the target satellite can be determined according to the ratio between the number of valid segments and the total number of the plurality of sequence segments.

[0136] In some embodiments, after determining whether a target satellite is faulty based on the UPD sequence, the pass rate of UPD products for multiple satellites can be determined to intuitively reflect the quality of the UPD products. Specifically, fault information of UPD products for the remaining satellites (excluding the target satellite) can be determined; based on the fault information of the UPD products of the multiple satellites, the number of valid satellites corresponding to each epoch can be determined; a satellite number sequence can be constructed based on the number of valid satellites corresponding to each epoch; and the pass rate of the UPD products can be determined based on a preset number of satellites and the satellite number sequence.

[0137] Specifically, since the integer part of UPD does not affect the fixation of ambiguity, the standard deviation of the fractional part of satellite UPD can intuitively reflect the stability of the product. Substitute the real-time received UPD into equation (8) to obtain the time series of the fractional part of UPD. At the same time, avoid the interference of integer week jumps caused by rounding on the statistics. First, segment the UPD sequence where the difference between adjacent epochs is close to 1 week, and calculate the standard deviation of the previous segment. Then, calculate the weight based on the number of epochs in each segment. Finally, calculate the weighted average of the standard deviation of the total sequence according to equation (9). For the continuity of UPD products, it is necessary to introduce the index of effective arc segments. Mark each arc segment with more than a threshold as an effective arc segment, and calculate the ratio of the total number of epochs in the effective arc segment to the total number of epochs in all arc segments. If the standard deviation of the sequence is too large or the effective epoch ratio is too small, it is determined that the UPD estimation of the satellite is faulty, and the status of the satellite is promptly fed back to the developers. After excluding faulty satellites, calculate the time series of the number of effective satellites for each epoch. By setting a threshold for the number of qualified satellites, the pass rate of the final output result estimated by UPD can be verified.

[0138]

[0139] in, [.] represents the decimal part of UPD; [.] is the floor function.

[0140]

[0141] Where n is the number of epochs in each UPD sequence; STD k Let be the standard deviation of UPD for the k-th segment.

[0142] In some embodiments, considering that the above-described process quantity analysis is performed from the perspective of internal compliance, the accuracy of UPD cannot be fully confirmed. Therefore, in this embodiment, a station outside the estimated station network can be selected as the monitoring station. Static PPP-AR calculation is performed based on the real-time received UPD product, and the real-time fixation rate, convergence time, and positioning accuracy are statistically analyzed. If the following occurs: the fixation rate is low, resulting in no significant improvement in convergence time compared to the PPP floating-point solution; after convergence, there are jump points with large positioning deviations, etc., firstly, the PPP calculation process quantity of the monitoring station is checked in the above manner. If the analysis results of the PPP calculation process quantity show that there is no fault, it can be determined that the deviation of the UPD product is large, and the developer should be notified in time. Specifically, static PPP-AR calculation can be performed on the monitoring station based on the real-time received UPD product of the target satellite to obtain the fixation rate, convergence time, and positioning accuracy; if the fault information of the UPD product indicates no fault, and the fixation rate is less than the preset fixation rate, the convergence time is greater than the preset time, and the positioning accuracy is greater than the preset accuracy, then it is determined that the UPD product has a deviation.

[0143] In some embodiments, considering that UPD estimation requires not only high-precision and stable observation data from stations, but also that the stations be distributed as evenly and at appropriate distances, this embodiment first constructs a triangulation network based on the station coordinates of the UPD-estimated station network. The rationality of the station distribution is automatically determined based on the baseline length and triangle area. Specifically, the true coordinates of multiple stations in the station network can be obtained to construct an initial triangulation network; based on the baseline length and triangle area in the triangulation network, the stations in the triangulation network are optimized to obtain multiple optimized stations; the target station is one of the multiple optimized stations.

[0144] Specifically, the true coordinates of each station in the network can be obtained to construct an optimal triangulation network. Based on the constructed triangulation network, it is checked whether there exists a baseline with a length greater than a threshold k1 and a triangle with an area greater than k2. If so, some stations are added or moved reasonably according to CPU processing performance and project budget to ensure that all stations in the network are evenly distributed, while guaranteeing that at any given time, a satellite is observed by more than k3 stations. The method provided in this embodiment improves the rationality of the station distribution by optimizing the stations within the network, thereby improving the accuracy of the estimated UPD products.

[0145] It should be noted that the execution order of the steps described above, including the analysis of the first process quantity in the PPP solution process, the analysis of the second process quantity in the UPD estimation process, the analysis of the standard deviation of the UPD product, the analysis of the UPD product at the monitoring station, and the optimization of the distribution of the monitoring stations in the station network, can be checked in the order of the UPD product calculation process or in reverse order. The specific choice can be made as needed, and this embodiment does not limit this.

[0146] The following examples illustrate sequential screening.

[0147] Figure 3 Flowchart of the fault detection method provided in the embodiments of this application Figure 2 .like Figure 3 As shown, the method includes:

[0148] Firstly, the distribution of the website network can be optimized.

[0149] Secondly, the first process variables in the PPP solution process can be analyzed to determine the fault information of the UPD product. Specifically, this can include pseudorange, carrier, code deviation, satellite position, velocity, clock error, floating-point ambiguity, MW sequence, stability check, single-station SPP / PPP positioning accuracy, position geometric accuracy PDOP, and number of satellites.

[0150] Secondly, the second process quantities of the UPD estimation process can be analyzed to determine the fault information of the UPD product. Specifically, this can include real-time reception, the number of stations participating in the calculation and with qualified residuals, reference satellites, (wide lane, narrow lane) stability, continuity, and the number of satellites output in real time.

[0151] Finally, PPP-AR calculations can be performed using a monitoring station to determine fault information of the UPD product. Specifically, fault information can be determined by analyzing the real-time positioning accuracy and fixation rate of the PPP-AR calculations.

[0152] The various analytical processes involved in this embodiment have been described in the above embodiments and will not be repeated here.

[0153] The fault detection method provided in this embodiment can quickly find the cause of the fault by checking the process quantities one by one in a sequential manner, and accurately locate the location of the fault with the user.

[0154] Figure 4 This is a schematic diagram of the structure of the fault detection device provided in an embodiment of this application. Figure 4 As shown, the fault detection device 40 includes an acquisition module 401 and a processing module 402.

[0155] The acquisition module 401 is used to acquire the target process quantity of the target station corresponding to the UPD product of the target satellite in the calculation process; the UPD product is obtained based on the wide and narrow lane stepwise fixing method; the calculation process includes the PPP solution process or the UPD estimation process.

[0156] The processing module 402 is used to analyze the target process quantity and determine the fault information of the UPD product.

[0157] The fault detection device provided in this application analyzes the process quantities during the calculation of UPD products, detects abnormalities in the process quantities, and determines the fault status of UPD products, thus enabling more accurate and timely detection of UPD product faults.

[0158] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the target observations corresponding to the target station and the target satellite; the processing module 402 is specifically used to: construct a first single difference sequence between epochs based on the target observations; perform quadratic term curve fitting on the first single difference sequence based on a sliding window of a preset length to obtain a quadratic term curve; determine the quadratic difference sequence between the first single difference sequence and the quadratic term curve, and detect the quadratic difference sequence to determine the fault information of the UPD product.

[0159] In some embodiments, the processing module 402 is specifically used to: determine the mean error of the first preset multiple of the quadratic difference sequence as the first detection quantity; if there is a value in the quadratic difference sequence that is greater than the first detection quantity, determine that the target observation quantity is abnormal, and generate fault information of the UPD product based on the abnormality.

[0160] In some embodiments, the target observation is a pseudorange or a carrier wave.

[0161] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the code deviation products corresponding to the target station and the target satellite; the processing module 402 is specifically used to: construct a second single difference sequence between epochs based on the code deviation products; determine a second probe measurement of the second single difference sequence based on a preset reference value; and detect the second single difference sequence based on the second probe measurement to determine the fault information of the UPD product.

[0162] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the satellite parameters corresponding to the target satellite; the processing module 402 is specifically used to: construct a third single difference sequence of the satellite parameters; detect the third single difference sequence to determine the fault information of the UPD product.

[0163] In some embodiments, the satellite parameters include satellite position; the processing module 402 is specifically configured to: obtain a first solution result and velocity information of the satellite position of the target satellite in the previous epoch, and a second solution result of the satellite position in the current epoch; determine a predicted value of the satellite position of the target satellite in the current epoch based on the first solution result and velocity information using an interpolation algorithm; and determine a third single-difference sequence of the satellite position of the target satellite based on the difference between the predicted value and the second solution result.

[0164] In some embodiments, the satellite parameters include clock bias; the processing module 402 is specifically used to: construct a third single-difference sequence between epochs of the clock bias of the target satellite.

[0165] In some embodiments, the processing module 402 is specifically used to: probe the third single difference sequence and obtain the probe result; if the probe result indicates that there is a deviation in the satellite parameters, then obtain the satellite parameters of any station other than the target station among the multiple stations corresponding to the target satellite, construct the inter-station difference sequence of the satellite parameters, probe the inter-station difference sequence, and determine the fault information of the UPD product.

[0166] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the SPP / PPP positioning residuals corresponding to the target station and the target satellite; the processing module 402 is specifically used to: determine the root mean square error and standard deviation of the positioning residuals; if the difference between the root mean square error and the standard deviation is greater than or equal to a preset difference, then obtain the antenna information and the station reference position, and determine the fault information of the UPD product based on the antenna information and the station reference position.

[0167] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the position accuracy sequence corresponding to the target station and the target satellite; the processing module 402 is specifically used to: acquire the position accuracy sequence; determine the positioning interruption position of the position accuracy sequence, and determine the fault information of the UPD product based on the positioning interruption position.

[0168] In some embodiments, if the calculation process includes a PPP solution process, the target process quantity includes the satellite number sequence corresponding to the target station; the processing module 402 is specifically used to: acquire the satellite number sequence; determine the difference between adjacent values ​​in the satellite number sequence; and determine the fault information of the UPD product based on the difference and a preset quantity.

[0169] In some embodiments, the calculation process includes a UPD estimation process; the target process quantity includes a second process quantity in the UPD estimation process.

[0170] In some embodiments, if the calculation process includes a UPD estimation process, the target process quantity includes the floating-point wide-lane ambiguity sequence corresponding to the target station and the target satellite; the processing module 402 is specifically used to: acquire the floating-point wide-lane ambiguity sequence; determine the mean square error of the second preset multiple of the floating-point wide-lane ambiguity sequence as the second probe measurement; and based on the second probe measurement, probe the floating-point wide-lane ambiguity sequence to determine the fault information of the UPD product.

[0171] In some embodiments, if the calculation process includes a UPD estimation process, the target process quantity includes the ionospheric ambiguity sequence corresponding to the target station and the target satellite; the processing module 402 is specifically used to: acquire the ionospheric ambiguity sequence; determine the mean error of the third preset multiple of the ionospheric ambiguity sequence as the third probe measurement; and based on the third probe measurement, probe the ionospheric ambiguity sequence to determine the fault information of the UPD product.

[0172] In some embodiments, if the calculation process includes a UPD estimation process, the target process quantity includes the total number of stations, the number of stations actually received, the number of stations actually used, and the number of stations that passed the residual test. The processing module 402 is specifically configured to: determine the number of stations with network latency based on the total number of stations and the number of stations actually received; determine the station quality inspection pass rate based on the number of stations actually received and the number of stations actually used; determine the station residual inspection pass rate based on the number of stations actually used and the number of stations that passed the residual test; and determine the fault information of the UPD product based on the number of stations with network latency, the station quality inspection pass rate, and the station residual inspection pass rate.

[0173] In some embodiments, if the calculation process includes a UPD estimation process, the target process quantity includes the reference satellite sequence corresponding to the target station; the processing module 402 is specifically used to: acquire the reference satellite sequence; perform inter-epoch difference on the reference satellite sequence to obtain a reference satellite single difference sequence; and determine the fault information of the UPD product based on the non-zero values ​​in the reference satellite single difference sequence.

[0174] In some embodiments, the processing module 402 is further configured to: acquire the time series of the fractional part of the UPD product of the target satellite; determine the position between adjacent epochs in the time series where the difference is greater than a preset threshold as a dividing line, and segment the time series according to the dividing line to obtain multiple sequence segments; determine the total standard deviation of the time series by weighted sum of the standard deviations of the multiple sequence segments; and determine the fault information of the UPD product of the target satellite according to the total standard deviation.

[0175] In some embodiments, the processing module 402 is further configured to: determine the number of valid segments among the plurality of sequence segments based on the number of epochs of the plurality of sequence segments; and determine the fault information of the UPD product of the target satellite based on the ratio between the number of valid segments and the total number of the plurality of sequence segments.

[0176] In some embodiments, the processing module 402 is further configured to: determine the fault information of the UPD products of the remaining satellites other than the target satellite among the plurality of satellites; determine the number of valid satellites corresponding to the plurality of epochs based on the fault information of the UPD products of the plurality of satellites; construct a satellite number sequence based on the number of valid satellites corresponding to the plurality of epochs; and determine the pass rate of the UPD products based on the preset number of satellites and the satellite number sequence.

[0177] In some embodiments, the processing module 402 is further configured to: perform static PPP-AR calculation on the monitoring station based on the UPD product of the target satellite received in real time, and obtain the fixation rate, convergence time, and positioning accuracy; if the fault information of the UPD product indicates no fault, and the fixation rate is less than a preset fixation rate, the convergence time is greater than a preset time, and the positioning accuracy is greater than a preset accuracy, then it is determined that the UPD product has a deviation.

[0178] In some embodiments, the processing module 402 is further configured to: obtain the real coordinates of multiple stations in the station network and construct an initial triangulation network; optimize the stations in the triangulation network based on the baseline length and triangle area in the triangulation network to obtain multiple optimized stations; the target station is a station among the multiple optimized stations.

[0179] The fault detection device provided in this application embodiment can be used to execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0180] Figure 5 This is a schematic diagram of the hardware structure of a fault detection device provided in an embodiment of the present invention. Figure 5 As shown, the fault detection device 50 provided in this embodiment includes at least one processor 501 and a memory 502. The fault detection device 50 also includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0181] In the specific implementation process, at least one processor 501 executes the computer execution instructions stored in the memory 502, causing at least one processor 501 to execute the fault detection method executed by the fault detection device 50 as described above.

[0182] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0183] In the above Figure 5 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), 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 this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0184] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0185] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0186] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the fault detection method performed by the fault detection device described above.

[0187] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the fault detection method performed by the fault detection device described above.

[0188] The aforementioned computer-readable 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0189] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0190] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to 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; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 fault detection method characterized by, include: Obtain the target process quantities of the target station corresponding to the UPD product of the target satellite in the calculation process; The UPD product is obtained based on the wide and narrow lane step-by-step fixing method. The calculation process includes a PPP solution process or a UPD estimation process; The target process quantity is analyzed to determine the fault information of the UPD product; Before the target station corresponding to the UPD product of the target satellite is obtained in the calculation process, the following is also included: Obtain the actual coordinates of multiple stations in the station network and construct an initial triangulation network; Based on the baseline length and triangle area in the triangulation network, the stations in the triangulation network are optimized to obtain multiple optimized stations; the target station is one of the multiple optimized stations.

2. The method of claim 1, wherein, If the calculation process includes a PPP solution process, then the target process quantity includes the target observations corresponding to the target station and the target satellite; The target observation is pseudorange or carrier wave; the analysis of the target process quantity to determine the fault information of the UPD product includes: Construct the first single-difference sequence between epochs based on the target observations; Based on a sliding window of preset length, a quadratic term curve is fitted to the first single-difference sequence to obtain the quadratic term curve; Determine the quadratic difference sequence between the first single difference sequence and the quadratic term curve; The mean error of the first preset multiple of the quadratic difference sequence is determined as the first probe measurement; If there is a value in the quadratic difference sequence that is greater than the first detection value, it is determined that there is an anomaly in the target observation, and fault information of the UPD product is generated based on the anomaly.

3. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the code offset products corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes: Construct a second single-difference sequence between epochs based on the code deviation product; Based on a preset reference value, determine the second probe measurement of the second single-difference sequence; The second single-difference sequence is probed based on the second probe measurement to determine the fault information of the UPD product.

4. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the clock bias corresponding to the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes: Construct the third single-difference sequence of the clock bias of the target satellite between epochs; The third single-difference sequence is probed to determine the fault information of the UPD product.

5. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the satellite position corresponding to the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes: Obtain the first solution result and velocity information of the target satellite's position in the previous epoch, and the second solution result of the satellite's position in the current epoch; Based on the interpolation algorithm, the predicted value of the satellite position of the target satellite at the current epoch is determined according to the first solution result and velocity information; Based on the difference between the predicted value and the second solution result, a third single-difference sequence of the satellite position of the target satellite is determined; The third single-difference sequence is probed to determine the fault information of the UPD product.

6. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the SPP / PPP positioning residuals corresponding to the target station and the target satellite; The analysis of the target process quantity to determine the fault information of the UPD product includes: Determine the root mean square error and standard deviation of the positioning residuals; If the difference between the root mean square error and the standard deviation is greater than or equal to a preset difference, then the antenna information and the station reference position are obtained, and the fault information of the UPD product is determined based on the antenna information and the station reference position.

7. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the position accuracy sequence corresponding to the target station and the target satellite; the analysis of the target process quantity to determine the fault information of the UPD product includes: Obtain the position precision sequence; Determine the location interruption position of the location accuracy sequence, and determine the fault information of the UPD product based on the location interruption position.

8. The method according to claim 1, characterized in that, If the calculation process includes a PPP solution process, then the target process quantity includes the sequence of satellite numbers corresponding to the target station; The analysis of the target process quantity to determine the fault information of the UPD product includes: Obtain the satellite number sequence; Determine the difference between adjacent values ​​in the satellite number sequence; Based on the difference and the preset quantity, the fault information of the UPD product is determined.

9. The method according to claim 1, characterized in that, If the calculation process includes a UPD estimation process, then the target process quantity includes the ambiguity sequences corresponding to the target station and the target satellite; the ambiguity sequence is a floating-point wide-lane ambiguity sequence or an ionospheric-free ambiguity sequence. The analysis of the target process quantity to determine the fault information of the UPD product includes: Obtain the ambiguity sequence; The error of the second preset multiple of the ambiguity sequence is determined as the second probe measurement; Based on the second probe measurement, the ambiguity sequence is probed to determine the fault information of the UPD product.

10. The method according to claim 1, characterized in that, If the calculation process includes a UPD estimation process, then the target process quantity includes the total number of stations, the number of stations actually received, the number of stations actually used, and the number of stations that passed the residual test. The analysis of the target process quantity to determine the fault information of the UPD product includes: Based on the total number of stations and the actual number of stations receiving data, determine the number of stations with network latency. The station quality inspection pass rate is determined based on the actual number of stations received and the actual number of stations used. The station residual test pass rate is determined based on the actual number of stations used and the number of stations that passed the residual test. The fault information of the UPD product is determined based on the number of stations with network latency, the pass rate of the station quality inspection, and the pass rate of the station residual inspection.

11. The method according to claim 1, characterized in that, If the calculation process includes a UPD estimation process, then the target process quantity includes the reference satellite sequence corresponding to the target station; The analysis of the target process quantity to determine the fault information of the UPD product includes: Obtain the reference star sequence; Perform inter-epoch difference calculus on the reference star sequence to obtain the reference star single difference sequence; Based on the non-zero values ​​in the reference star single difference sequence, the fault information of the UPD product is determined.

12. The method according to any one of claims 1-11, characterized in that, After analyzing the target process quantity to determine the fault information of the UPD product, the method further includes: Obtain the time series of the fractional part of the UPD product of the target satellite; The positions between adjacent epochs in the time series where the difference is greater than a preset threshold are determined as dividing lines, and the time series is segmented according to the dividing lines to obtain multiple sequence segments; The weighted sum of the standard deviations of the multiple sequence segments is determined as the total standard deviation of the time series, and the fault information of the UPD product of the target satellite is determined based on the total standard deviation. Alternatively, the number of valid segments in the multiple sequence segments is determined based on the number of epochs of the multiple sequence segments, and the fault information of the UPD product of the target satellite is determined based on the ratio between the number of valid segments and the total number of the multiple sequence segments.

13. The method according to claim 12, characterized in that, After determining the fault information of the target satellite's UPD product, the method further includes: Determine the fault information of the UPD products of the remaining satellites other than the target satellite among multiple satellites; Based on the fault information of the UPD products of multiple satellites, determine the number of valid satellites corresponding to each of the multiple epochs; Construct a satellite number sequence based on the number of valid satellites corresponding to each of the multiple epochs; The pass rate of the UPD product is determined based on the preset number of satellites and the satellite number sequence.

14. A fault detection device, characterized in that, include: The acquisition module is used to acquire the target process quantities of the target station corresponding to the UPD product of the target satellite during the calculation process; The UPD product is obtained based on the wide and narrow lane step-by-step fixing method. The calculation process includes a PPP solution process or a UPD estimation process; The processing module is used to analyze the target process quantity and determine the fault information of the UPD product; The processing module is also used to obtain the real coordinates of multiple stations in the station network and construct an initial triangulation network; Based on the baseline length and triangle area in the triangulation network, the stations in the triangulation network are optimized to obtain multiple optimized stations. The target station is one of the multiple optimized stations.

15. A fault detection device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the fault detection method as described in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the fault detection method as described in any one of claims 1 to 13.

17. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the fault detection method according to any one of claims 1 to 13.

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