A method and device for monitoring integrity of beidou satellite time service

Abstract

The application discloses a Beidou satellite timing integrity monitoring method, comprising the following steps: receiving a Beidou satellite navigation signal and a timing signal; detecting whether the pseudo-range residual error of the Beidou satellite exceeds a preset first threshold value according to the Beidou satellite navigation signal; detecting whether the pseudo-range time sequence standard deviation of the Beidou satellite exceeds a preset second threshold value according to the Beidou satellite navigation signal; detecting whether the carrier-to-noise ratio time sequence standard deviation of the Beidou satellite exceeds a preset third threshold value according to the Beidou satellite navigation signal; and detecting whether the timing clock drift stability of the Beidou satellite exceeds a preset fourth threshold value according to the Beidou satellite timing signal. An apparatus is also disclosed. The multi-dimensional integrity detection judgment is performed on the pseudo-range residual error, the pseudo-range time sequence standard deviation, the carrier-to-noise ratio time sequence standard deviation and the timing clock drift stability, the integrity monitoring effect of the single Beidou base station timing is improved, and the robustness of the satellite communication system is improved.

Description

Technical Field

[0001] This application relates to the fields of electronic information science and satellite navigation applications, and in particular to a method and apparatus for monitoring the integrity of BeiDou satellite timing. Background Technology

[0002] Satellite navigation provides high-precision satellite-based navigation signals, enabling the location and time awareness of ground and near-ground equipment and personnel. It has wide applications in communication system base stations, power grid substations, and other fields, providing high-precision timing for these sites. Global Navigation Satellite System (GNSS), as an all-weather, all-coverage, and high-precision positioning and timing method, is currently widely used in key sectors of the national economy such as power, communications, and transportation.

[0003] Single BeiDou time synchronization refers to using only the BeiDou satellite navigation system signal for time synchronization in scenarios where multiple satellite navigation systems exist. Integrity monitoring refers to the receiver's monitoring and troubleshooting of faults in received satellite signals, including those related to the satellite itself, the space transmission link, and the receiver antenna.

[0004] Because the BeiDou navigation signal has a relatively weak ground level, it is easily affected by interference and spoofing, and is also susceptible to the influence of multipath propagation in the receiving antenna environment. Generally, the integrity monitoring method based on GNSS timing is to use the receiver autonomous integrity monitoring (RAIM) method based on pseudorange consistency monitoring of traditional positioning receivers. When conditions permit, the GNSS timing signal is clock-steering with a high-stability atomic clock to correct the local clock and achieve high integrity timing. However, the high cost of this method limits its widespread application. Summary of the Invention

[0005] This application proposes a method and apparatus for monitoring the integrity of BeiDou satellite timing. By performing multi-dimensional integrity testing on the original observations of BeiDou timing at a base station, the integrity monitoring effect of single BeiDou base station timing is improved.

[0006] In a first aspect, embodiments of this application provide a method for monitoring the integrity of BeiDou satellite timing, comprising the following steps:

[0007] Receives BeiDou satellite navigation and timing signals;

[0008] Based on the BeiDou satellite navigation signal, detect whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold;

[0009] Based on the BeiDou satellite navigation signal, detect whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold;

[0010] Based on the BeiDou satellite navigation signal, detect whether the standard deviation of the carrier-to-noise ratio time series of the BeiDou satellite exceeds a preset third threshold;

[0011] The system detects whether the clock drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

[0012] Secondly, embodiments of this application also provide an apparatus for implementing the BeiDou satellite timing integrity monitoring method described in this application, comprising: a pseudorange consistency detection module, a pseudorange time series detection module, a carrier-to-noise ratio time series detection module, and a timing drift detection module.

[0013] The pseudorange consistency detection module is used to detect whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold based on the BeiDou satellite navigation signal.

[0014] The pseudorange time series detection module is used to detect whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold based on the BeiDou satellite navigation signal.

[0015] The carrier-to-noise ratio time series detection module is used to detect whether the standard deviation of the carrier-to-noise ratio time series of the Beidou satellite exceeds a preset third threshold based on the Beidou satellite navigation signal.

[0016] The timing drift detection module is used to detect whether the timing drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

[0017] Thirdly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in any of the embodiments provided in this application.

[0018] Fourthly, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, it implements the methods described in any of the embodiments provided in this application.

[0019] The above-mentioned at least one technical solution adopted in the embodiments of this application can achieve the following beneficial effects: This application analyzes the Beidou satellite navigation signal and timing signal, and performs multi-dimensional integrity detection and judgment on pseudorange residual, distance time series standard deviation, carrier-to-noise ratio time series standard deviation and timing drift stability, thereby improving the integrity monitoring effect of single Beidou base station timing and improving the robustness of the satellite communication system. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 A schematic diagram illustrating a method for monitoring the integrity of BeiDou satellite timing provided in this application embodiment;

[0022] Figure 2 A flowchart of a single BeiDou timing clock domain detection process for a base station is provided in this application embodiment;

[0023] Figure 3 A flowchart for monitoring the integrity of BeiDou satellite timing is provided in this embodiment of the application.

[0024] Figure 4 A schematic diagram of a device for monitoring the integrity of BeiDou satellite timing, provided for an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 The diagram shown is a schematic representation of a method for monitoring the integrity of BeiDou satellite timing according to an embodiment of this application, including the following steps:

[0029] Step 110: Receive BeiDou satellite navigation signals and timing signals;

[0030] In one embodiment, the power grid or communication network proposes a single BeiDou reliable timing and time-frequency network construction requirement, which can be realized by receiving BeiDou satellite navigation signals and timing signals through ground base stations to achieve single-station integrity monitoring of single BeiDou timing.

[0031] Step 120: Detect whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold based on the BeiDou satellite navigation signal;

[0032] In one embodiment, at least four BeiDou satellites are selected, and the pseudorange residuals from the receiver to the BeiDou satellites are calculated respectively. If the pseudorange residuals of one or more of the satellites are greater than a preset first threshold, the consistency detection of the corresponding one or more BeiDou satellites fails.

[0033] The pseudorange residuals of the BeiDou satellites are detected based on the BeiDou satellite navigation signals to perform satellite pseudorange consistency detection. That is, the receiver obtains the pseudorange residuals of each satellite by subtracting the geometric distance between the receiver and the BeiDou satellite and the receiver clock error from the pseudorange measurement value of the corresponding BeiDou satellite by the receiver. See formula (1) for details.

[0034]

[0035] In formula (1), (i=1,2,…,N),N≥4,p r i Let p be the pseudorange residual of the i-th satellite. o i Let r be the pseudorange measurement value of the i-th satellite. i Let be the geometric distance between the receiver and the i-th satellite, c be the speed of light, and δ be the distance between the receiver and the i-th satellite. t This refers to the receiver clock bias.

[0036] The preset first threshold represents the threshold of pseudorange residuals. If the pseudorange residuals calculated according to formula (1) exceed the preset first threshold, the corresponding satellite is considered to have failed integrity monitoring.

[0037] Step 130: Detect whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold based on the BeiDou satellite navigation signal;

[0038] In one embodiment, the step of detecting whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold based on the BeiDou satellite navigation signal includes: statistically analyzing multiple pseudorange residuals of the BeiDou satellite within a preset time period, calculating the standard deviation and the expected value of the standard deviation, and if the standard deviation is more than 30% larger than the expected value of the standard deviation, then the BeiDou satellite pseudorange time series detection fails.

[0039] Specifically, taking a satellite as an example, navigation signals are collected for 5 minutes at a frequency of once per second. The pseudorange residual of the satellite (refer to formula (1)) and the variance and standard deviation of the pseudorange residual sequence are calculated. The expected value of its standard deviation is calculated according to the following formula (2). The expected value of the standard deviation is multiplied by 130% as the preset second threshold.

[0040]

[0041] In formula (2), σ is the expected value of the standard deviation, a and b are empirical values, generally a = 4 mm and b = 3 mm, θ iLet be the elevation angle of the i-th satellite.

[0042] If the standard deviation of the tracking satellite pseudorange time series exceeds the preset second threshold, that is, the standard deviation is more than 30% greater than the expected value of the standard deviation, then the corresponding satellite pseudorange time series detection is deemed to have failed and the integrity monitoring has failed.

[0043] Step 140: Detect whether the standard deviation of the carrier-to-noise ratio time series of the BeiDou satellite exceeds a preset third threshold based on the BeiDou satellite navigation signal;

[0044] The carrier-to-noise ratio (CNR) is an important parameter for measuring signal quality in satellite communication systems, reflecting the ratio between the carrier power and noise power of the satellite signal.

[0045] In one embodiment, the step of detecting whether the standard deviation of the carrier-to-noise ratio time series of the BeiDou satellite exceeds a preset third threshold based on the BeiDou satellite navigation signal includes: statistically analyzing multiple carrier-to-noise ratios of the BeiDou satellite within a preset time period, calculating the standard deviation, and if the standard deviation is greater than 3dB·Hz, then the BeiDou satellite carrier-to-noise ratio time series detection fails.

[0046] Specifically, satellite carrier-to-noise ratio (CNR) observations are collected, with 5-minute data sets collected from each tracked satellite at a frequency of 1 Hz. The standard deviation of the CNR sequence for each satellite is calculated. If the standard deviation of the CNR time series exceeds a preset third threshold (3 dB·Hz in this embodiment), the CNR time series detection for that satellite is deemed to have failed, and the integrity monitoring is deemed to have failed.

[0047] Step 150: Detect whether the clock drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

[0048] Clock drift refers to the phenomenon where the actual oscillation frequency of a receiver's clock oscillator drifts away from its nominal frequency.

[0049] In one embodiment, such as Figure 2 The diagram shown is a flowchart of a base station single BeiDou timing clock domain detection method provided in this application embodiment. The receiver obtains the clock drift observation of satellite timing from the BeiDou satellite timing signal, and performs consistency detection and comparison based on the receiver reference clock 100-second stability parameter and the satellite timing clock drift parameter calculated by the receiver. It detects whether the timing clock drift stability of the BeiDou satellite exceeds a preset fourth threshold. If it exceeds the preset fourth threshold, the integrity monitoring fails.

[0050] In one embodiment, multiple clock drift output values ​​of the BeiDou satellite within a preset time period are statistically analyzed to calculate the clock drift stability. The preset fourth threshold is 3 times. If the clock drift stability is more than 3 times the receiver reference clock stability index per hundred seconds, the BeiDou satellite clock drift detection fails.

[0051] Specifically, the clock drift output value of the receiver is collected within a certain period of time (generally 2 to 5 minutes), and its stability is calculated using formula (3) based on the clock drift time series output by the receiver. If its stability is more than 3 times the stability index of the receiver reference clock per hundred seconds, the integrity monitoring of the receiver clock domain is considered to have failed.

[0052]

[0053] In formula (3), σ 2 y (τ) is the stability, n is the number of samples, τ is the sampling interval, and y i This is the clock drift output value for the i-th sample.

[0054] Unlike traditional single-station monitoring methods, this application uses raw observations from multiple BeiDou satellites at a single BeiDou timing terminal at a base station to perform horizontal and temporal integrity detection processing, completing integrity monitoring in the pseudorange domain, carrier-to-noise ratio domain, and clock domain. Specifically, this includes multi-dimensional comparative detection of pseudorange residuals, pseudorange time series standard deviation, carrier-to-noise ratio time series standard deviation, and clock drift stability, thereby achieving integrity monitoring, improving the integrity monitoring effect of single BeiDou base station timing, and enhancing the robustness of the satellite communication system.

[0055] It should be noted that the order of steps 120, 130, 140 and 150 can be adjusted. For example, step 130 can be placed before step 120 without producing the same technical effect.

[0056] Figure 3 This is a flowchart of a BeiDou satellite timing integrity monitoring process provided in an embodiment of this application.

[0057] After receiving satellite navigation signals and timing signals, satellite pseudorange consistency detection 310, satellite pseudorange time series detection 320, satellite carrier-to-noise ratio time series detection 330, and satellite timing drift detection 340 can be performed.

[0058] When performing satellite pseudorange consistency detection 310, the pseudorange residual is calculated using the method described in step 120 using the calculation formula (1) and compared with a preset first threshold. If the pseudorange consistency detection fails and the integrity monitoring fails, corresponding protection measures can be initiated, such as switching to a new satellite.

[0059] When performing satellite pseudorange time series detection 320, the method described in step 130 is used to calculate the expected value of the standard deviation using the calculation formula (2). A second threshold can be preset. If the standard deviation of the tracked satellite exceeds the preset second threshold, that is, the standard deviation is more than 30% larger than the expected value of the standard deviation, the corresponding satellite pseudorange time series detection is determined to be a failure, the integrity monitoring is a failure, and corresponding protection measures can be initiated, such as switching to a new satellite.

[0060] When performing satellite carrier-to-noise ratio (CNR) time series detection 330, the standard deviation of each satellite CNR sequence is calculated using the method described in step 140. The standard deviation of the CNR time series is checked to see if it exceeds a preset third threshold. In this embodiment, the preset third threshold is 3 dB·Hz. If it does, the satellite CNR time series detection is deemed a failure, indicating a failure in integrity monitoring, and corresponding protection measures can be initiated, such as switching to a new satellite.

[0061] In the satellite timing drift detection 340, the method described in step 150 is used to obtain the receiver's satellite timing drift observation from the BeiDou satellite timing signal, and to perform consistency detection and comparison based on the receiver's reference clock 100-second stability parameter and the satellite timing drift parameter calculated by the receiver. It is then detected whether the BeiDou satellite's timing drift stability exceeds the preset fourth threshold 342. If it exceeds the preset fourth threshold, the integrity monitoring fails, and corresponding protection measures can be initiated, such as switching to a new satellite.

[0062] By monitoring the integrity of satellite signals in multiple dimensions, degradation of satellite signals can be detected in a timely manner, and satellite communication quality can be improved by switching to new satellites.

[0063] Figure 4 This application provides a schematic diagram of a service configuration device for implementing the method described in any of the preceding claims. The device includes: a pseudorange consistency detection module 410, a pseudorange time series detection module 420, a carrier-to-noise ratio time series detection module 430, and a clock drift detection module 440.

[0064] The pseudorange consistency detection module 410 is used to detect whether the pseudorange residual of the Beidou satellite exceeds a preset first threshold based on the Beidou satellite navigation signal.

[0065] The pseudorange time series detection module 420 is used to detect whether the standard deviation of the pseudorange time series of the Beidou satellite exceeds a preset second threshold based on the Beidou satellite navigation signal.

[0066] The carrier-to-noise ratio time series detection module 430 is used to detect whether the standard deviation of the carrier-to-noise ratio time series of the Beidou satellite exceeds a preset third threshold based on the Beidou satellite navigation signal.

[0067] The timing drift detection module 440 is used to detect whether the timing drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

[0068] In one embodiment, the pseudorange consistency detection module 410 is further configured to: select at least 4 BeiDou satellites, calculate the pseudorange residual from the receiver to the BeiDou satellites respectively, and if the pseudorange residual of one or more of the satellites is greater than a preset first threshold, the consistency detection of the corresponding one or more BeiDou satellites fails.

[0069] In one embodiment, the pseudorange time series detection module 420 is further configured to: statistically analyze multiple pseudorange residuals of the BeiDou satellite within a preset time period, calculate the standard deviation and the expected value of the standard deviation, and if the standard deviation is more than 30% larger than the expected value of the standard deviation, then the pseudorange time series detection of the BeiDou satellite fails.

[0070] In one embodiment, the carrier-to-noise ratio time series detection module 430 is further configured to: statistically analyze multiple carrier-to-noise ratios of the BeiDou satellite within a preset time period, calculate the standard deviation, and if the standard deviation is greater than 3dB·Hz, then the BeiDou satellite carrier-to-noise ratio time series detection fails.

[0071] In one embodiment, the clock drift detection module 440 is further configured to: count multiple clock drift output values ​​of the BeiDou satellite within a preset time period, calculate clock drift stability, and if the clock drift stability is more than three times the receiver reference clock stability index per hundred seconds, then the BeiDou satellite clock drift detection fails.

[0072] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] Therefore, this application also proposes a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in any embodiment of the first aspect of this application.

[0074] Furthermore, in order to produce the apparatus described in the second and third aspects of this application, this application also proposes an electronic device (or computing device) including a processor and a memory storing program instructions, the processor being configured to implement the method described in the first aspect of this application when executing the program instructions.

[0075] Figure 5This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 500 shown in the figure is merely an example and should not impose any limitations on the function and scope of use of the embodiments of this application.

[0076] It includes: one or more processors 520; and a storage device 510 for storing one or more programs, which, when run by the one or more processors 520, enable the one or more processors 520 to implement the BeiDou satellite timing integrity monitoring method provided in the embodiments of this application, the method including at least one step as described in the embodiments of this application.

[0077] The number of processors 520 in an electronic device can be one or more. Figure 5 Taking a processor 520 as an example; the processor 520, storage device 510, input device 530 and output device 540 in the electronic device can be connected by a bus or other means, and the connection via bus 550 is taken as an example in the figure.

[0078] Storage device 510, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and module units, such as the program instructions corresponding to the BeiDou satellite timing integrity monitoring method in this embodiment. Storage device 510 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on terminal usage. Furthermore, storage device 510 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, storage device 510 may further include memory remotely located relative to processor 520, and these remote memories can be connected via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0079] It is understood that the processor 520 in this embodiment includes at least one of the pseudorange consistency detection module 410, pseudorange time series detection module 420, carrier-to-noise ratio time series detection module 430 and clock drift detection module 440 in this application embodiment, which is used to implement at least one part of the functions of the above embodiments. It can be an entity composed of one or more components, and the specific functions of each module will not be described here.

[0080] The input device 530 can be used to receive input digital, character, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device.

[0081] The output device 540 may include electronic devices such as a display screen and a speaker.

[0082] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for monitoring the integrity of BeiDou satellite timing, characterized in that, include: Receives BeiDou satellite navigation and timing signals; Based on the BeiDou satellite navigation signal, detect whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold; Based on the BeiDou satellite navigation signal, detect whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold; Based on the BeiDou satellite navigation signal, detect whether the standard deviation of the carrier-to-noise ratio time series of the BeiDou satellite exceeds a preset third threshold; The system detects whether the timing drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

2. The method according to claim 1, wherein detecting whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold based on the BeiDou satellite navigation signal includes: Select at least 4 BeiDou satellites and calculate the pseudorange residual from the receiver to each BeiDou satellite. If the pseudorange residual of one or more of the satellites is greater than a preset first threshold, the consistency detection of the corresponding one or more BeiDou satellites fails.

3. The method according to claim 1, wherein detecting whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold based on the BeiDou satellite navigation signal includes: The pseudorange residuals of the BeiDou satellites within a preset time period are statistically analyzed, and the standard deviation and expected value of the standard deviation are calculated. If the standard deviation is more than 30% larger than the expected value of the standard deviation, the pseudorange time series detection of the BeiDou satellites fails.

4. The method according to claim 1, wherein detecting whether the standard deviation of the carrier-to-noise ratio time series of the BeiDou satellite exceeds a preset third threshold based on the BeiDou satellite navigation signal includes: The carrier-to-noise ratios of the BeiDou satellites within a preset time period are statistically analyzed, and the standard deviation is calculated. If the standard deviation is greater than 3 dB·Hz, the time series detection of the BeiDou satellite carrier-to-noise ratio fails.

5. The method according to claim 1, wherein detecting whether the timing drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal includes: The clock drift output values ​​of the Beidou satellite within a preset time period are statistically analyzed, and the clock drift stability is calculated. If the clock drift stability is more than three times the receiver reference clock stability index per hundred seconds, the clock drift detection of the Beidou satellite is considered to have failed.

6. A device for monitoring the integrity of BeiDou satellite timing, used to implement the method described in any one of claims 1 to 5, characterized in that, include: The system includes a pseudorange consistency detection module, a pseudorange time series detection module, a carrier-to-noise ratio time series detection module, and a clock drift detection module. The pseudorange consistency detection module is used to detect whether the pseudorange residual of the BeiDou satellite exceeds a preset first threshold based on the BeiDou satellite navigation signal. The pseudorange time series detection module is used to detect whether the standard deviation of the pseudorange time series of the BeiDou satellite exceeds a preset second threshold based on the BeiDou satellite navigation signal. The carrier-to-noise ratio time series detection module is used to detect whether the standard deviation of the carrier-to-noise ratio time series of the Beidou satellite exceeds a preset third threshold based on the Beidou satellite navigation signal. The timing drift detection module is used to detect whether the timing drift stability of the BeiDou satellite exceeds a preset fourth threshold based on the BeiDou satellite timing signal.

7. The apparatus according to claim 6, wherein the pseudorange consistency detection module is further configured to: select at least 4 BeiDou satellites, calculate the pseudorange residual from the receiver to the BeiDou satellites respectively, and if the pseudorange residual of one or more of the satellites is greater than a preset first threshold, then the consistency detection of the corresponding one or more BeiDou satellites fails.

8. The apparatus according to claim 6, wherein the pseudorange time series detection module is further configured to: statistically analyze multiple pseudorange residuals of the BeiDou satellite within a preset time period, calculate the standard deviation and the expected value of the standard deviation, and if the standard deviation is more than 30% larger than the expected value of the standard deviation, then the pseudorange time series detection of the BeiDou satellite fails.

9. The apparatus according to claim 6, wherein the carrier-to-noise ratio time series detection module is further configured to: statistically analyze multiple carrier-to-noise ratios of the BeiDou satellite within a preset time period, calculate the standard deviation, and if the standard deviation is greater than 3dB·Hz, then the BeiDou satellite carrier-to-noise ratio time series detection fails.

10. The apparatus according to claim 6, wherein the clock drift detection module is further configured to: statistically analyze multiple clock drift output values ​​of the BeiDou satellite within a preset time period, calculate clock drift stability, and if the clock drift stability is more than three times the receiver reference clock stability index per hundred seconds, then the BeiDou satellite clock drift detection fails.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-5.

12. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-5.

Images