Method and apparatus for determining ionospheric delay of frequency hopping signals

Abstract

The application relates to a method and device for determining ionospheric delay of a frequency hopping signal. The basic idea of the application is that in a short time, the pseudo-range value output by the receiver changes little and basically presents a linear relationship, and through recursive estimation of the pseudo-range value, the ionospheric pseudo-range error correction function of an approximate dual-frequency receiver can be completed by using the linear function fitted at the time of frequency hopping, the pseudo-range at the next moment is recursively calculated from the pseudo-range at the last moment, the limitation that the frequency cannot be observed simultaneously with time hopping is overcome, and the measurement accuracy of the pseudo-range is improved.

Description

Technical Field

[0001] This application relates to the fields of satellite navigation and satellite communication technology, and in particular to a method and apparatus for determining the ionospheric delay of frequency hopping signals. Background Technology

[0002] Currently, GNSS (Global Navigation Satellite System) satellite navigation systems, represented by GPS (Global Positioning System) and BeiDou, have achieved significant development and widespread application. However, satellite navigation systems based on the Direct Sequence Spread Spectrum (DSSS) system have publicly available and fixed signal frequencies, resulting in poor anti-interference capabilities. Frequency hopping (FH) systems, on the other hand, have constantly changing signal frequencies, providing strong anti-interference capabilities and are widely used in military secure communications. Combining these two spread spectrum methods in satellite navigation and communication, adopting a DS / FH hybrid spread spectrum system, can achieve even stronger anti-interference capabilities and has already been applied in the field of satellite telemetry, tracking, and command (TT&C).

[0003] When a broadband signal passes through a medium transmission path or linear components in a device, the phase velocities of its various spectral components differ, and the responses of the components to each spectral component also differ. This causes phase distortion, or disorder, in the signal arriving at the receiving end due to the different phase shifts or time delays of the various frequency components. Phase distortion leads to increased crosstalk noise, signal distortion, or intersymbol interference. Phase distortion is measured by the time delay difference between a group of frequency components; hence, it is called group delay.

[0004] In DS / FH hybrid spread spectrum systems, the impact of group delay cannot be ignored for high-precision positioning. The ionosphere is a significant source of group delay. As part of Earth's atmosphere, the presence of charged particles in the ionosphere affects the propagation of electromagnetic waves, altering their propagation speed and bending their paths. This delays the propagation of signals in satellite-to-ground radio links, introducing propagation group delay.

[0005] Because ionospheric delay is frequency-dependent, it can usually be largely eliminated by using a dual-frequency receiver for pseudorange measurement. However, the prerequisite for eliminating ionospheric delay through dual-frequency measurement is simultaneous observation of both frequency signals. For DS / FH hybrid spread spectrum systems, the frequency jumps with time and cannot be observed simultaneously, therefore, traditional dual-frequency observation methods cannot be used to eliminate ionospheric delay. Summary of the Invention

[0006] To address the aforementioned problems in existing technologies, this application provides an ionospheric error correction method based on pseudorange recursion of frequency-hopping signals. The basic idea of ​​this application is that, within a short timeframe, the pseudorange value output by the receiver does not change significantly and exhibits a largely linear relationship. By recursively estimating the pseudorange value, a fitted linear function can be used simultaneously with frequency hopping to recursively estimate the pseudorange for the next timeframe from the pseudorange of the previous timeframe. This completes the ionospheric pseudorange error correction function of an approximate dual-frequency receiver, thereby improving the measurement accuracy of the pseudorange.

[0007] According to a first aspect of this application, a method for determining the ionospheric delay of a frequency-hopping signal is provided, characterized in that it includes:

[0008] (a) Collect a predetermined number of pseudorange values ​​corresponding to the current carrier frequency;

[0009] (b) Fit the predetermined number of pseudorange values ​​to obtain the functional relationship between the pseudorange values ​​and time;

[0010] (c) Measure the first pseudorange value before the current carrier frequency jumps to the next carrier frequency;

[0011] (d) Measure the second pseudorange value corresponding to the next carrier frequency that is a preset time interval away from the first pseudorange value;

[0012] (e) Based on the first pseudorange value and the functional relationship, the third pseudorange value in the time slot corresponding to the next carrier frequency is derived, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval;

[0013] (f) Based on the second pseudorange value and the third pseudorange value, determine the ionospheric error corresponding to the current carrier frequency within the time slot corresponding to the next carrier frequency and the ionospheric error corresponding to the next carrier frequency; and

[0014] (g) Take the next carrier frequency as the current carrier frequency, return to execute steps (a)-(f), traverse any carrier frequency included in the carrier frequency switching period, and determine the ionospheric error of any carrier frequency.

[0015] According to a second aspect of this application, an apparatus for determining the ionospheric delay of a frequency-hopping signal is provided, characterized in that it comprises:

[0016] The acquisition module is used to acquire a predetermined number of pseudorange values ​​corresponding to the current carrier frequency;

[0017] The fitting module is used to fit the predetermined number of pseudorange values ​​to obtain the functional relationship between the pseudorange values ​​and time.

[0018] The first measurement module is used to measure the first pseudorange value before the current carrier frequency jumps to the next carrier frequency;

[0019] The second measurement module is used to measure a second pseudorange value corresponding to the next carrier frequency that is a preset time interval away from the first pseudorange value.

[0020] The derivation module is used to derive the third pseudorange value in the time slot corresponding to the next carrier frequency based on the first pseudorange value and the functional relationship, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval.

[0021] The first determining module is configured to determine, based on the second pseudorange value and the third pseudorange value, the ionospheric error corresponding to the current carrier frequency within the time slot corresponding to the next carrier frequency and the ionospheric error corresponding to the next carrier frequency; and

[0022] The second determining module is used to take the next carrier frequency as the current carrier frequency, traverse any carrier frequency included in the carrier frequency switching period, and determine the ionospheric error of any carrier frequency.

[0023] According to a third aspect of this application, an electronic device is provided, comprising:

[0024] Processor; and

[0025] A memory storing computer instructions that, when executed by the processor, cause the processor to perform the method described in the first aspect.

[0026] According to a fourth aspect of this application, a non-transitory computer storage medium is provided, which stores a computer program that, when executed by a plurality of processors, causes the processors to perform the method described in the first aspect.

[0027] According to the method and apparatus for determining the ionospheric delay of frequency-hopping signals provided in this application, the pseudorange at the next moment can be recursively derived from the pseudorange at the previous moment using a fitted linear function while the frequency jumps, thereby completing the ionospheric pseudorange error correction function of an approximate dual-frequency receiver, overcoming the limitation that frequency jumps with time cannot be observed simultaneously, and improving the measurement accuracy of pseudorange. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0029] Figure 1 This is a flowchart of a method for determining the ionospheric delay of a frequency-hopping signal according to an embodiment of this application.

[0030] Figure 2 This is a schematic diagram of constructing a pseudo-range extrapolation function according to an embodiment of this application.

[0031] Figure 3 This is a schematic diagram illustrating the principle of ionospheric error correction based on pseudorange recursion according to an embodiment of this application.

[0032] Figure 4 This is a flowchart of a method for determining the ionospheric delay of a frequency-hopping signal according to another embodiment of this application.

[0033] Figure 5 This is a schematic diagram of an apparatus for determining the ionospheric delay of a frequency-hopping signal according to an embodiment of this application.

[0034] Figure 6 This is a schematic diagram of an apparatus for determining the ionospheric delay of a frequency-hopping signal according to another embodiment of this application.

[0035] Figure 7 This is a structural diagram of an electronic device provided in this application. Detailed Implementation

[0036] 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, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0038] For frequency hopping signals, one carrier frequency transition period T FH Contains n frequencies f L1 f L2 , ..., f Ln Each frequency is maintained for a time slot; for each time slot t1, t2, ... t nIt can contain multiple pseudorange output periods T p It can output multiple pseudoranges. For example, for a DS / FH hybrid spread spectrum signal, the carrier frequency jumps with time, and one carrier frequency jump period is one cycle. The carrier frequency starts from f... L1 Jump to f Ln Then it enters the next carrier frequency switching cycle, and then from f L1 Jump to f Ln This cycle continues. Thus, one carrier frequency transition period corresponds to multiple time slots, one time slot corresponds to one carrier frequency, and each time slot corresponds to multiple pseudorange output periods.

[0039] Figure 1 This is a flowchart of a method for determining the ionospheric delay of a frequency-hopping signal according to an embodiment of this application. Figure 1 As shown, the method includes the following steps.

[0040] Step S101: Collect a predetermined number of pseudorange values ​​corresponding to the current carrier frequency.

[0041] like Figure 2 As shown, the duration of a time slot is 10ms, and the interval from the output period is 1ms. The receiver generates a pseudorange measurement value every 1ms and can collect a preset number of pseudorange values, such as any number of pseudorange values ​​from 2 to 10. Figure 2 Ten pseudorange values ​​were collected.

[0042] Step S102: Fit the predetermined number of pseudorange values ​​to obtain the functional relationship between the pseudorange values ​​and time.

[0043] like Figure 2 As shown, a linear fit was performed on the 10 collected pseudorange values ​​to obtain the functional relationship between the pseudorange and time: ρ n+1 =ρ n +k·t

[0044] Where, ρ n+1 ρ represents the (n+1)th pseudorange value output. n This represents the nth pseudorange value output, where t represents ρ. n+1 and ρ n The time interval between them, where k is the slope.

[0045] Step S103: Measure the first pseudorange value before the current carrier frequency jumps to the next carrier frequency.

[0046] like Figure 2 As shown, in time slot t1, the carrier frequency is f L1 The measurement obtained f before the carrier frequency jump in time slot t1 L1 pseudorange value of frequency point exist Figure 2 In the embodiment shown, the pseudorange value is measured in the 10th pseudorange output cycle in the t1 time slot.

[0047] Step S104: Measure the second pseudorange value corresponding to the next carrier frequency, which is a preset time interval away from the first pseudorange value.

[0048] like Figure 2 As shown, in time slot t2, the carrier frequency jumps to f. L2 After measuring the carrier frequency jump in time slot t2, f L2 pseudorange value of frequency point exist Figure 2 In the embodiment shown, the pseudorange value is measured during the first pseudorange output cycle in the t2 time slot.

[0049] According to some embodiments, the time interval between measuring the pseudorange value of the carrier frequency corresponding to time slot t1 and measuring the pseudorange value of the carrier frequency corresponding to time slot t2 can be set according to actual needs, for example, as... Figure 2 As shown, the pseudorange value can be measured in the last pseudorange output cycle of time slot t1 and the pseudorange value can be measured in the first pseudorange output cycle of time slot t2, i.e., the preset time interval is one pseudorange output cycle. Other time intervals can also be set, for example, the pseudorange value can be measured in the last pseudorange output cycle of time slot t1 and the pseudorange value can be measured in the second pseudorange output cycle of time slot t2, etc., and this application does not impose any limitations on this.

[0050] Step S105: Based on the first pseudorange value and the functional relationship, derive the third pseudorange value in the time slot corresponding to the next carrier frequency, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval.

[0051] According to some embodiments, assuming the carrier frequency f L1 Unchanged, extrapolating f in time slot t2 L1 The first pseudorange value of the frequency point:

[0052]

[0053] Where Δt is the value used to obtain the two pseudo-range values. and The interval time, in Figure 2 In the embodiment shown, the interval is one pseudorange output cycle.

[0054] Step S106: Based on the second pseudorange value and the third pseudorange value, determine the ionospheric error corresponding to the current carrier frequency and the ionospheric error corresponding to the next carrier frequency within the time slot corresponding to the next carrier frequency.

[0055] The second pseudorange value measured in step S104 and the third pseudorange value obtained by extrapolation in step S105 Based on the classical formula for calculating ionospheric error, we can obtain f in time slot t2. L1 Frequency and f L2 The ionospheric errors at different frequencies are as follows:

[0056]

[0057]

[0058] Step S107: Take the next carrier frequency as the current carrier frequency, return to execute steps S101 to S106, traverse any carrier frequency included in the carrier frequency transition period, and determine the ionospheric error of any carrier frequency.

[0059] Following the methods described in steps S101 to S106, the ionospheric error of each carrier frequency included in the wave frequency transition period is calculated respectively, that is, the error from carrier frequency f is calculated respectively. L1 To carrier frequency f Ln The ionospheric error, where, for t n time slot f Ln-1 Frequency and f Ln The ionospheric error at each frequency point is calculated as follows:

[0060]

[0061]

[0062] Thus, after traversing the current carrier frequency transition period, a corresponding ionospheric error will be generated for each carrier frequency. If the current carrier frequency transition period is not the first frequency transition period after the receiver is powered on, two ionospheric errors will be generated for each carrier frequency, such as... Figure 3 As shown, for example, for f L2 The carrier frequency has an ionospheric error in both time slots t2 and t3, for f L2 The carrier frequency has an ionospheric error in both time slots t3 and t4, etc. In this application, the process of continuously traversing the wave frequency transition cycle is described. Figure 3 In time slot t1, f L0 It can represent t of the previous cycle period. n carrier frequency f of the time slot Ln .

[0063] According to some embodiments, either of the two ionospheric errors corresponding to each carrier frequency can be determined as the ionospheric error corresponding to that carrier frequency. According to other embodiments, the average of the two ionospheric errors can also be determined as the ionospheric error corresponding to that carrier frequency.

[0064] Figure 4 This is a flowchart of a method for determining the ionospheric delay of a frequency-hopping signal according to another embodiment of this application. Figure 1 compared to, Figure 4 Steps S401 to S407 and Figure 1 Steps S101 to S107 are the same, except that... Figure 4 The method shown also includes the following steps:

[0065] Step S408: Execute steps S401 to S407 a predetermined number of times to obtain the predetermined number of ionospheric errors for any carrier frequency included in the carrier frequency transition period; and

[0066] Step S409: Take the average value of the set number of ionospheric errors to determine the average ionospheric error of any carrier frequency.

[0067] Figure 1 The method described herein describes the process of determining the ionospheric error corresponding to each carrier frequency within a wave frequency hopping cycle. To improve the accuracy of the ionospheric error, according to some embodiments, multiple wave frequency hopping cycles can be repeated, and the process described in steps S401 to S407 can be performed for each wave frequency hopping cycle, thereby obtaining multiple ionospheric errors for each carrier frequency.

[0068] As mentioned above, any carrier frequency in a wave frequency transition period corresponds to two ionospheric errors. Either of these two ionospheric errors can be determined as the ionospheric error corresponding to that carrier frequency, or the average of the two ionospheric errors can be determined as the ionospheric error corresponding to that carrier frequency.

[0069] After repeating multiple wave frequency switching cycles, the average of the multiple ionospheric errors corresponding to each carrier frequency is taken to obtain the average ionospheric error of each carrier frequency, which is used as the final ionospheric error, as shown below:

[0070]

[0071] Where N represents the number of times the wave frequency jump cycle repeats.

[0072] Based on the ionospheric errors of each carrier frequency calculated using the above method, when it is necessary to correct the ionospheric delay of one or more carrier frequencies, the correction can be made according to the corresponding ionospheric errors.

[0073] Based on the above method, according to another aspect of this application, an apparatus for determining the ionospheric delay of a frequency hopping signal is provided. Figure 5 This is a schematic diagram of an apparatus for determining the ionospheric delay of a frequency-hopping signal according to an embodiment of this application. Figure 5 As shown, the device includes an acquisition module 501, a fitting module 502, a first measurement module 503, a second measurement module 504, a derivation module 505, a first determination module 506, and a second determination module 507.

[0074] The acquisition module 501 is used to acquire a predetermined number of pseudorange values ​​corresponding to the current carrier frequency; the fitting module 502 is used to fit the predetermined number of pseudorange values ​​to obtain a functional relationship between the pseudorange value and time; the first measurement module 503 is used to measure a first pseudorange value before the current carrier frequency jumps to the next carrier frequency; the second measurement module 504 is used to measure a second pseudorange value corresponding to the next carrier frequency that differs from the first pseudorange value by a preset time interval; the derivation module 505 is used to derive a third pseudorange value in the time slot corresponding to the next carrier frequency based on the first pseudorange value and the functional relationship, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval; the first determination module 506 is used to determine the ionospheric error corresponding to the current carrier frequency and the ionospheric error corresponding to the next carrier frequency in the time slot corresponding to the next carrier frequency based on the second pseudorange value and the third pseudorange value; the second determination module 507 is used to take the next carrier frequency as the current carrier frequency, traverse any carrier frequency included in the carrier frequency jump period, and determine the ionospheric error of any carrier frequency.

[0075] Figure 6 This is a schematic diagram of an apparatus for determining the ionospheric delay of a frequency-hopping signal according to another embodiment of this application. Figure 5 compared to, Figure 6 Modules 601 to 607 and Figure 5 Modules 501 to 507 are the same, the difference being that... Figure 6 The apparatus shown also includes an acquisition module 608 and a third determination module 609. The acquisition module 608 is used to acquire a predetermined number of ionospheric errors for any carrier frequency included in the carrier frequency transition period; the third determination module 609 is used to take the average value of the predetermined number of ionospheric errors to determine the average ionospheric error for the given carrier frequency.

[0076] According to the method and apparatus for determining the ionospheric delay of frequency-hopping signals provided in this application, the pseudorange at the next moment can be recursively derived from the pseudorange at the previous moment using a fitted linear function while the frequency jumps, thereby completing the ionospheric pseudorange error correction function of an approximate dual-frequency receiver, overcoming the limitation that frequency jumps with time cannot be observed simultaneously, and improving the measurement accuracy of pseudorange.

[0077] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0078] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be an electrical connection or other forms.

[0080] See Figure 7 , Figure 7 An electronic device is provided, including a processor and a memory. The memory stores computer instructions, which, when executed by the processor, cause the processor to perform the computer instructions to achieve the following: Figure 1 and Figure 4 The method and its detailed scheme are shown.

[0081] It should be understood that the above-described device embodiments are merely illustrative, and the device disclosed in this invention can be implemented in other ways. For example, the division of units / modules described in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, integrated into another system, or some features may be ignored or not executed.

[0082] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of the present invention can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0083] If the integrated unit / module is implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor or chip can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the on-chip cache, off-chip memory, and storage can be any suitable magnetic or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0084] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer electronic device (which may be a personal computer, server, or network electronic device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0085] This application embodiment also provides a non-transitory computer storage medium storing a computer program, which, when executed by multiple processors, causes the processors to perform actions such as... Figure 1 and Figure 4The method and its detailed scheme are shown.

[0086] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for determining the ionospheric delay of a frequency-hopping signal, characterized in that, include: (a) Collect a predetermined number of pseudorange values ​​corresponding to the current carrier frequency; (b) Fit the predetermined number of pseudorange values ​​to obtain the functional relationship between the pseudorange values ​​and time; (c) Measure the first pseudorange value before the current carrier frequency jumps to the next carrier frequency; (d) Measure the second pseudorange value corresponding to the next carrier frequency that is a preset time interval away from the first pseudorange value; (e) Based on the first pseudorange value and the functional relationship, the third pseudorange value in the time slot corresponding to the next carrier frequency is derived, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval; (f) Based on the second pseudorange value and the third pseudorange value, determine the ionospheric error corresponding to the current carrier frequency within the time slot corresponding to the next carrier frequency and the ionospheric error corresponding to the next carrier frequency; and (g) Take the next carrier frequency as the current carrier frequency, return to execute steps (a)-(f), traverse any carrier frequency included in the carrier frequency switching period, and determine the ionospheric error of any carrier frequency.

2. The method as described in claim 1, characterized in that, For any carrier frequency included in the carrier frequency hopping period, the corresponding ionospheric error includes the first ionospheric error of the time slot corresponding to the carrier frequency and the second ionospheric error of the next time slot. Determining the ionospheric error of any carrier frequency includes: The average of the first ionospheric error and the second ionospheric error is determined as the ionospheric error corresponding to the carrier frequency.

3. The method as described in claim 1, characterized in that, Also includes: Perform steps (a) to (g) in a set number to obtain the set number of ionospheric errors for any carrier frequency included in the carrier frequency switching period; as well as The average value of the predetermined number of ionospheric errors is taken to determine the average ionospheric error for any given carrier frequency.

4. The method according to any one of claims 1 to 3, characterized in that, One of the time slots includes multiple pseudorange output cycles, and the preset time interval is one pseudorange output cycle.

5. A device for determining the ionospheric delay of a frequency-hopping signal, characterized in that, include: The acquisition module is used to acquire a predetermined number of pseudorange values ​​corresponding to the current carrier frequency; The fitting module is used to fit the predetermined number of pseudorange values ​​to obtain the functional relationship between the pseudorange values ​​and time. The first measurement module is used to measure the first pseudorange value before the current carrier frequency jumps to the next carrier frequency; The second measurement module is used to measure a second pseudorange value corresponding to the next carrier frequency that is a preset time interval away from the first pseudorange value. The derivation module is used to derive the third pseudorange value in the time slot corresponding to the next carrier frequency based on the first pseudorange value and the functional relationship, wherein the first pseudorange value and the third pseudorange value differ by the preset time interval. The first determining module is configured to determine, based on the second pseudorange value and the third pseudorange value, the ionospheric error corresponding to the current carrier frequency within the time slot corresponding to the next carrier frequency and the ionospheric error corresponding to the next carrier frequency; and The second determining module is used to take the next carrier frequency as the current carrier frequency, traverse any carrier frequency included in the carrier frequency switching period, and determine the ionospheric error of any carrier frequency.

6. The apparatus as claimed in claim 5, characterized in that, For any carrier frequency included in the carrier frequency transition period, the corresponding ionospheric error includes the first ionospheric error of the time slot corresponding to the carrier frequency and the second ionospheric error of the next time slot. The second determining module is used for: The average of the first ionospheric error and the second ionospheric error is determined as the ionospheric error corresponding to the carrier frequency.

7. The apparatus as claimed in claim 5, characterized in that, Also includes: The acquisition module is used to obtain a set number of ionospheric errors for any carrier frequency included in the carrier frequency switching period; as well as The third determining module is used to take the average value of the set number of ionospheric errors to determine the average ionospheric error of any carrier frequency.

8. The apparatus according to any one of claims 5 to 7, characterized in that, One of the time slots includes multiple pseudorange output cycles, and the preset time interval is one pseudorange output cycle.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 4.

Images