A calibration method, system and electronic equipment based on multi-reference receiver

Abstract

The present invention discloses a calibration method, system and electronic device based on multiple reference receivers. The method includes: obtaining the initial uncertainty of at least three reference receivers, and determining the initial weight value of each reference receiver; determining the initial CGGTTS file corresponding to each reference receiver in the same time period; generating a reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file; determining the weight value to be used corresponding to each reference receiver based on the reference CGGTTS file and the initial CGGTTS file of each reference receiver; determining the target uncertainty of the receiver to be calibrated based on the weight value to be used of each reference receiver, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; calibrating the receiver to be calibrated based on the target uncertainty. The method solves the problem of poor accuracy and long calibration time of calibrating the receiver to be calibrated by one reference receiver in the traditional method, and improves the reliability and accuracy of calibration, and reduces the calibration time.

Description

Technical Field

[0001] The present invention relates to the technical field of receiver calibration, and in particular to a calibration method, system and electronic equipment based on a multi-reference receiver. Background Art

[0002] The traditional method currently used to calibrate receivers is: a reference receiver and the receiver to be calibrated perform GNSS co-viewing for five consecutive days, and the mean and uncertainty of the clock error data obtained from the co-viewing are calculated as the mean and uncertainty of the receiver to be calibrated.

[0003] The reference receiver is regularly calibrated to the BIPM, but the aging of the equipment and the error of the satellite link will cause the reference receiver data to deviate from the true value. In the traditional method, the possibility of a reference receiver deviating from the true value is high, and even if the reference receiver has a large deviation, it cannot be discovered during the calibration process, and the reliability of the system is poor. Summary of the invention

[0004] The present invention provides a calibration method, system and electronic equipment based on a multi-reference receiver, so as to improve the reliability and accuracy of calibration and reduce the time used for calibration.

[0005] According to one aspect of the present invention, there is provided a calibration method based on a multi-reference receiver, comprising:

[0006] Obtaining initial uncertainties of at least three reference receivers and determining an initial weight value for each of the reference receivers;

[0007] Determine an initial CGGTTS file corresponding to each of the reference receivers in the same time period;

[0008] Based on the initial weight value and the initial CGGTTS file, generating a reference CGGTTS file corresponding to the reference receiver;

[0009] Determine a weight value to be used corresponding to each of the reference receivers based on a reference CGGTTS file and an initial CGGTTS file of each of the reference receivers;

[0010] Determining a target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated;

[0011] The receiver to be calibrated is calibrated based on the target uncertainty.

[0012] According to another aspect of the present invention, there is provided a calibration system based on a multi-reference receiver, comprising:

[0013] An initial weight determination module, used to obtain initial uncertainties of at least three reference receivers and determine an initial weight value of each of the reference receivers;

[0014] An initial CGGTTS file determination module, used to determine the initial CGGTTS file corresponding to each of the reference receivers in the same time period;

[0015] A reference CGGTTS file generation module, used to generate a reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file;

[0016] A weight value calculation module to be used, used to determine the weight value to be used corresponding to each of the reference receivers based on the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers;

[0017] A target uncertainty calculation module, used to determine the target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated;

[0018] The receiver to be calibrated calibration module is used to calibrate the receiver to be calibrated based on the target uncertainty.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor;

[0021] and a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the calibration method based on a multi-reference receiver according to any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the calibration method based on a multi-reference receiver according to any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention includes: obtaining the initial uncertainty of at least three reference receivers, and determining the initial weight value of each reference receiver; determining the initial CGGTTS file corresponding to each reference receiver in the same time period; generating the reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file; determining the weight value to be used corresponding to each reference receiver based on the reference CGGTTS file and the initial CGGTTS file of each reference receiver; determining the target uncertainty of the receiver to be calibrated based on the weight value to be used of each reference receiver, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; calibrating the receiver to be calibrated based on the target uncertainty. The technical solution of the embodiment of the present invention uses a weighted method of multiple reference receivers to make a common view of a receiver to be calibrated, and performs assessment and calibration, which solves the problem of poor accuracy and long calibration time of calibrating a receiver to be calibrated by a reference receiver in the traditional method, reduces the influence of the deviation of the reference receiver from the accurate value on the calibration during the calibration process, improves the reliability and accuracy of the calibration, and reduces the calibration time through three reference receivers.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flowchart of a calibration method based on a multi-reference receiver provided in Embodiment 1 of the present invention;

[0028] Figure 2 A schematic diagram of weighted calibration of three reference receivers provided in Embodiment 1 of the present invention;

[0029] Figure 3 Optimization result analysis diagram of three reference receivers provided in Embodiment 1 of the present invention;

[0030] Figure 4 A schematic diagram of the structure of a calibration system based on a multi-reference receiver provided in Embodiment 2 of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] In order to further clarify the technical effects of the present invention, before introducing specific embodiments, the problems existing in the prior art are explained as follows:

[0035] In time and frequency measurement, the receiver is an important part of remote time transmission based on the Global Navigation Satellite System (GNSS). In order to ensure the accuracy of remote time and frequency transmission, the receiver needs to be regularly sent to the statutory metrology agency for calibration.

[0036] GNSS receivers are key equipment for remote time and frequency transmission, ensuring accurate, stable and continuous operation of remote time and frequency traceability, and need to be inspected and calibrated regularly. Currently, GNSS receiver calibration requires that the receiver to be calibrated and the reference receiver approved by the legal metrology agency have uninterrupted common view, and five days of receiver common view data are used to evaluate the delay and uncertainty of the receiver to be calibrated. The reference receivers of national legal metrology agencies are regularly calibrated to the International Bureau of Weights and Measures (BIPM) to ensure the accuracy of the uncertainty assessment of the reference receiver and the mean of each frequency point.

[0037] Affected by factors such as device aging and changes in transmission link delay, the mean and uncertainty of the receiver are constantly changing. However, the calibration cycle of the reference receiver is usually long, and it cannot be guaranteed that its uncertainty and the mean of each frequency point are still close to the accurate value. When the traditional method of using a single reference receiver for five days is used to calibrate the receiver to be calibrated, there is a certain probability that the reference receiver used has deviated from the accurate value by a large distance, and the mean and uncertainty of the receiver to be calibrated using it will be inaccurate.

[0038] In order to ensure the accuracy of the delay and uncertainty assessment of the GNSS receiver and reduce the impact of the reference receiver's deviation from the accurate value on the calibration, the present invention will provide a multi-reference receiver weighted calibration receiver method, which uses a weighted method of multiple reference receivers to make a common view of a receiver to be calibrated and perform assessment and calibration.

[0039] Embodiment 1

[0040] Figure 1 The flowchart of a calibration method based on a multi-reference receiver provided in the first embodiment of the present invention is applicable to the case where a receiver to be calibrated is to be calibrated. The method can be executed by a calibration system based on a multi-reference receiver. The system can be implemented in the form of hardware and / or software, and the system can be configured in an electronic device. Figure 1 As shown, the method includes:

[0041] S110, obtaining initial uncertainties of at least three reference receivers, and determining an initial weight value of each of the reference receivers.

[0042] Among them, the reference receiver can be understood as a receiver calibrated by the International Bureau of Weights and Measures. Calibration of the receiver to be calibrated can be achieved by making the reference receiver and the receiver to be calibrated look together; the initial uncertainty can be the uncertainty of the reference receiver when calibrated by the International Bureau of Weights and Measures; the number of reference receivers can be three or more.

[0043] In an embodiment of the present invention, the initial uncertainties of at least three reference receivers are obtained, and the initial weight value of each of the reference receivers is determined, which may include: determining the initial uncertainty of each of the reference receivers based on the reference receiver calibration report issued by BIPM; and obtaining the initial weight value of each of the reference receivers by calculating through an uncertainty weighting formula.

[0044] The uncertainty weighting formula is: Where i is A, B or C, u A 、u B 、u C is the initial uncertainty corresponding to the three reference receivers A, B, and C respectively, and the initial weight value is ω A ,ωB ,ω C .

[0045] Specifically, the uncertainty on the reference receiver calibration report issued by BIPM can be used as the initial uncertainty of the reference receiver. Each reference receiver has a corresponding initial uncertainty. By substituting the initial uncertainty of each reference receiver into the uncertainty weighting formula, the initial weight value of each reference receiver can be obtained.

[0046] S120. Determine the initial CGGTTS file corresponding to each of the reference receivers in the same time period.

[0047] The initial Common GNSS Generic Time Transfer Standard (CGGTTS) file may be a CGGTTS file generated by each reference receiver in the same time period, and the initial CGGTTS file includes the clock difference between the satellite time and the reference time of the reference receiver.

[0048] In an embodiment of the present invention, determining the initial CGGTTS file corresponding to each of the reference receivers in the same time period may include: obtaining the clock difference values ​​corresponding to the three reference receivers in the same time period, and constructing the CGGTTS files to be processed of each of the reference receivers based on the clock difference values; filtering out the gross errors in the CGGTTS files to be processed by 3-Sigma filtering to obtain each of the initial CGGTTS files.

[0049] The CGGTTS file to be processed may be a CGGT TS file corresponding to the acquired reference receiver and containing abnormal data; the initial CGGTTS file is obtained by performing error removal on the CGGTTS file to be processed.

[0050] Specifically, the clock difference values ​​of the three reference receivers in the same time period are obtained. The clock difference values ​​reflect the difference between the reference receiver clock and the standard time. Based on the obtained clock difference values, the CGGTTS files to be processed of each reference receiver can be constructed. The CGGTTS files to be processed are data files containing timestamps and corresponding clock difference values, which are used for subsequent time synchronization and calibration processing.

[0051] In the CGGTTS file to be processed, there may be gross errors caused by various factors, such as environmental interference, which affect the subsequent time synchronization and calibration accuracy, so it is necessary to filter them out. The embodiment of the present invention adopts a 3-Sigma filtering method to filter out gross errors. 3-Sigma filtering is a filtering method based on statistical principles. By calculating the mean and standard deviation of the data and setting a threshold, for example, the threshold can be the mean plus or minus three times the standard deviation, the data exceeding the threshold is regarded as a gross error and is eliminated. After 3-Sigma filtering, the gross errors in the CGGTTS file to be processed are effectively filtered out, and the initial CGGTTS file of each reference receiver is obtained.

[0052] The embodiment of the present invention obtains the clock difference value of the reference receiver to form the CGGTTS file to be processed and filters out gross errors, thereby determining the initial CGGTTS file corresponding to each reference receiver in the same time period, thereby providing an accurate and reliable data basis for subsequent time synchronization and calibration processing.

[0053] In an optional embodiment, the gross errors in the CGGTTS file to be processed are filtered out by 3-Sigma filtering to obtain each of the initial CGGTTS files, including: calculating the standard deviation of the clock error value x in the CGGTTS file to be processed and mean If the clock difference value x is not within the range of (μ-3σ,μ+3σ), the clock difference value x is determined as an abnormal clock difference value, and the abnormal clock difference value is eliminated to obtain the initial CGGTTS file.

[0054] Where n is the total number of clock error values ​​x in the CGGTTS file to be processed.

[0055] It should be noted that the CGGTTS file to be processed of each reference receiver can be processed according to the above process to obtain the initial CGGTTS file of each reference receiver.

[0056] S130. Generate a reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file.

[0057] Specifically, the clock error values ​​in the initial CGGTTS file can be weighted using the initial weight value. Then, the weighted clock error values ​​are fused to generate a unified reference CGGTTS file. The reference CGGTTS file contains the weighted clock error values ​​of all reference receivers in the same time period for subsequent time synchronization and calibration.

[0058] It should be noted that in the same time period, the weighted clock error values ​​of each initial CGGTTS file need to be at the same time and correspond to the same satellite. For example, at the first moment, the clock error values ​​x, y, and z of the three reference receivers and satellite 1 are weighted to obtain the weighted clock error value at the first moment. Then, the weighted clock error values ​​of each moment (for example, the second moment, the third moment, etc.) in the same time period are calculated to form a reference CGGTTS file.

[0059] In an optional implementation, based on the initial weight value and the initial CGGTTS file, generating a reference CGGTTS file corresponding to the reference receiver includes: using the target clock error value formula The clock error values ​​of the reference receivers corresponding to the same time and the same satellite in each of the initial CGGTTS files are weighted averaged to obtain a target clock error value; and the reference CGGTTS file is constructed based on the target clock error value;

[0060] Among them, Ref time is the target clock error, i is the reference receiver number, j is the satellite number, Δt ij The clock difference between the satellite time of the three reference receivers with the same satellite number at the same time and the receiver reference time: Δt ij =d ij / c,d ij is the pseudorange value obtained by the receiver, and c is the transmission speed of the carrier, which can be considered as the speed of light after correcting the transmission errors of the ionosphere, troposphere, etc.

[0061] Specifically, through the formula The target clock error value is obtained by weighted averaging the effective values ​​of the same satellite number in the CGGTTS files of each receiver at different times. Then, the reference CGGTTS data is obtained by re-arranging them in time. Table 1 shows the table for calculating the reference CGGTTS file.

[0062] Table 1

[0063]

[0064] S140. Determine the weight value to be used corresponding to each of the reference receivers based on the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers.

[0065] The weights to be used may be weights corresponding to each reference receiver obtained by viewing the initial CGGTTS file of each reference receiver together with the reference CGGTTS file.

[0066] In an optional embodiment, based on a reference CGGTTS file and an initial CGGTTS file of each of the reference receivers, a weight value to be used corresponding to each of the reference receivers is determined, including: obtaining the uncertainty to be weighted of each of the reference receivers based on a common view of the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers; and weighting the uncertainty to be weighted to obtain the weight to be used of each of the reference receivers.

[0067] Specifically, common view is performed based on the reference CGGTTS file and the initial CGGTTS file of each reference receiver. Common view is a time synchronization technology that evaluates the time synchronization performance between different receivers by comparing the clock difference values ​​of different receivers in the same time period. In the above process, the clock difference value in the reference CGGTTS file is compared point by point with the clock difference value in the initial CGGTTS file of each reference receiver, and the difference between them is calculated to obtain the difference in clock difference values ​​as the result of common view. Based on the result of common view, the uncertainty to be weighted of each reference receiver can be calculated, and specifically, the variance corresponding to the difference of multiple clock difference values ​​can be calculated as the uncertainty to be weighted of each reference receiver.

[0068] For example, assuming that for reference receiver A, the common view result may include clock difference value 1, clock difference value 2, clock difference value 3, and clock difference value 4, and the standard deviations of clock difference value 1, clock difference value 2, clock difference value 3, and clock difference value 4 may be calculated as the uncertainty to be weighted of the reference receiver. The remaining reference receivers may calculate the corresponding uncertainty to be weighted in a similar manner.

[0069] It can be understood that the weight of the reference receiver can be obtained by weighting the uncertainty of the reference receiver. Therefore, the uncertainty to be weighted of the reference receiver can be used to obtain the weight value to be used of the reference receiver.

[0070] Exemplarily, each reference receiver makes a common view with the reference CGGTTS file, and calculates a new uncertainty based on the common view result, namely, the uncertainty to be weighted. A 、u' B 、u' C , through the formula Calculate the weight value ω' to be used for each reference receiver A ,ω' B ,ω' C .

[0071] In an embodiment of the present invention, after calculating the weight value to be used of each of the reference receivers based on the reference CGGTTS file, it also includes: correcting the initial weight value of each of the reference receivers based on the weight value to be used, and repeating the process of determining the weight value to be used until the repetition duration is greater than a preset duration threshold.

[0072] The preset time threshold may be a preset time, for example, the preset time is three days.

[0073] Specifically, after calculating the weight value to be used of each reference receiver, an iterative correction process may also be included. Specifically, it may be: based on the calculated weight value to be used, the initial weight value of each reference receiver is corrected, that is, the weight value to be used is used as the initial weight value, and the common view between the reference receivers is re-performed, and based on the corrected initial weight value, the reference CGGTTS file and the determination process of the weight value to be used are executed again. Repeat the above process until the repetition time is greater than the preset time threshold, and output the weight value to be used calculated in the last repetition process. Figure 2 As shown, it is a schematic diagram of weighted calibration of three reference receivers provided in Embodiment 1 of the present invention.

[0074] S150. Determine the target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated.

[0075] Among them, the receiver to be calibrated may be a receiver that needs to be calibrated, the target CGGTTS file may be a CGGTTS file generated by the receiver to be calibrated, the target CGGTTS file and the initial CGGTTS file are CGGTTS files within the same time period; the target uncertainty may be the uncertainty of the receiver to be calibrated.

[0076] In an embodiment of the present invention, the target uncertainty of the receiver to be calibrated is determined based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated, including: co-viewing the target CGGTTS file with each of the initial CGGTTS files to obtain at least three candidate uncertainties corresponding to the receiver to be calibrated; and determining the target uncertainty of the receiver to be calibrated based on at least three candidate uncertainties and the weight value to be used of each of the reference receivers.

[0077] Specifically, the target CGGTTS file of the receiver to be calibrated can be co-viewed with the initial CGGTTS file of each reference receiver, and the difference in clock error between the receiver to be calibrated and each reference receiver can be obtained. The number of clock error differences can be multiple, and the standard deviation of the differences in multiple clock error values ​​can be calculated to obtain the candidate uncertainty of the receiver to be calibrated. Since the number of reference receivers is three, the candidate uncertainties corresponding to the receiver to be calibrated and each reference receiver can be obtained, that is, three candidate uncertainties are obtained. After obtaining the three candidate uncertainties, the three candidate uncertainties are weighted using the weight value to be used of each reference receiver to determine the target uncertainty of the receiver to be calibrated.

[0078] Exemplarily, the receiver to be calibrated is in common view with each reference receiver, and the uncertainty u of the three receivers to be calibrated is obtained. DA 、u DB 、u DC , through the formula Calculate the weighted uncertainty u of the receiver to be calibrated D By finding the 'approximate truth' of the three reference receivers, i.e. referring to the CGGTTS data, the respective weights are determined, and through a loop iteration, the weights of the receivers close to the 'approximate truth' are gradually increased.

[0079] S160. Calibrate the receiver to be calibrated based on the target uncertainty.

[0080] It is understandable that uncertainty is an important performance indicator of the equipment. The smaller the uncertainty, the better the performance, that is, the more accurate the measured number is. The receiver to be calibrated can be calibrated to reduce the target uncertainty of the receiver to be calibrated.

[0081] The method of the present invention utilizes multiple reference receivers to participate in calibration at the same time. Reference receivers usually have superior performance, and the number of receivers with deviations under multiple receivers can usually be considered to be small. Each reference receiver is weighted by using a cyclic weighting method to find the "approximate true value", thereby reducing or directly eliminating the impact of deviations and large deviations on calibration, and reducing measurement uncertainty. At the same time, multiple reference receivers will have a larger amount of data, which can reduce measurement time without affecting measurement performance, reducing the original 5 days to 3 days or even less. Figure 3 As shown, it is an optimization result analysis diagram of three reference receivers provided in the first embodiment of the present invention, where the horizontal axis reference receiver number is the reference receiver number, and the vertical axis Time difference is the clock difference.

[0082] It is understandable that a legal metrology institution with calibration qualifications usually has more than one reference receiver, and the number of reference receivers involved in the calibration can be increased according to demand, further improving the efficiency of calibration, improving the reliability of the system, and reducing uncertainty.

[0083] It should also be noted that the transmission of time and frequency signals using GNSS almost always requires a receiver, and the various data formats involved can be processed using the method of this article: RTCM, RINEX, CGGTTS and other file formats and signal carriers that carry pseudorange and other time and frequency information; satellite common view, satellite full view and other comparison methods for comparing the time difference between receivers can all be used in the method of the present invention. Among them, the Radio Technical Commission for Maritime Services (RTCM) is a set of standard protocols developed for the application of radio technology in maritime services. Receiver Independent Exchange Format (RI NEX), RINEX is a standardized file format for storing, exchanging and processing global positioning system (GPS) receiver observation data.

[0084] The technical solution of the embodiment of the present invention includes: obtaining the initial uncertainty of at least three reference receivers, and determining the initial weight value of each reference receiver; determining the initial CGGTTS file corresponding to each reference receiver in the same time period; generating the reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file; determining the weight value to be used corresponding to each reference receiver based on the reference CGGTTS file and the initial CGGTTS file of each reference receiver; determining the target uncertainty of the receiver to be calibrated based on the weight value to be used of each reference receiver, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; calibrating the receiver to be calibrated based on the target uncertainty. The technical solution of the embodiment of the present invention uses a weighted method of multiple reference receivers to make a common view of a receiver to be calibrated, and performs assessment and calibration, which solves the problem of poor accuracy and long calibration time of calibrating a receiver to be calibrated by a reference receiver in the traditional method, reduces the influence of the deviation of the reference receiver from the accurate value on the calibration during the calibration process, improves the reliability and accuracy of the calibration, and reduces the calibration time through three reference receivers.

[0085] Embodiment 2

[0086] Figure 4 The schematic diagram of the structure of a calibration system based on a multi-reference receiver provided in the second embodiment of the present invention. Figure 4 As shown, the system includes:

[0087] An initial weight determination module 310, configured to obtain initial uncertainties of at least three reference receivers and determine an initial weight value of each of the reference receivers;

[0088] An initial CGGTTS file determination module 320, used to determine an initial CGGTTS file corresponding to each of the reference receivers in the same time period;

[0089] A reference CGGTTS file generation module 330, configured to generate a reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file;

[0090] The weight value calculation module 340 is used to determine the weight value to be used corresponding to each of the reference receivers based on the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers;

[0091] A target uncertainty calculation module 350, configured to determine the target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated;

[0092] The receiver calibration module 360 ​​is configured to calibrate the receiver based on the target uncertainty.

[0093] The technical solution of the embodiment of the present invention includes: obtaining the initial uncertainty of at least three reference receivers, and determining the initial weight value of each reference receiver; determining the initial CGGTTS file corresponding to each reference receiver in the same time period; generating the reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file; determining the weight value to be used corresponding to each reference receiver based on the reference CGGTTS file and the initial CGGTTS file of each reference receiver; determining the target uncertainty of the receiver to be calibrated based on the weight value to be used of each reference receiver, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; calibrating the receiver to be calibrated based on the target uncertainty. The technical solution of the embodiment of the present invention uses a weighted method of multiple reference receivers to make a common view of a receiver to be calibrated, and performs assessment and calibration, which solves the problem of poor accuracy and long calibration time of calibrating a receiver to be calibrated by a reference receiver in the traditional method, reduces the influence of the deviation of the reference receiver from the accurate value on the calibration during the calibration process, improves the reliability and accuracy of the calibration, and reduces the calibration time through three reference receivers.

[0094] Optionally, the initial weight determination module 310 is specifically configured to:

[0095] Determine the initial uncertainty of each reference receiver based on the reference receiver calibration report issued by BIPM;

[0096] The initial weight value of each reference receiver is calculated by using an uncertainty weighting formula, and the uncertainty weighting formula is as follows:

[0097] Where i is A, B or C, u A 、u B 、u C is the initial uncertainty corresponding to the three reference receivers A, B, and C respectively, and the initial weight value is ω A ,ω B ,ω C .

[0098] Optionally, the initial CGGTTS file determination module 320 includes:

[0099] A submodule for determining the CGGTTS file to be processed, used for obtaining the clock difference values ​​corresponding to the three reference receivers in the same time period, and forming the CGGTTS file to be processed of each reference receiver based on the clock difference values;

[0100] The gross error filtering submodule is used to filter out the gross errors in the CGGTTS file to be processed through 3-Sigma filtering to obtain each of the initial CGGTTS files.

[0101] Optionally, the gross error filtering submodule is specifically used to:

[0102] Calculate the standard deviation of the clock error value x in the CGGTTS file to be processed and mean Wherein, n is the total number of clock error values ​​x in the CGGTTS file to be processed;

[0103] If the clock difference value x is not within the range of (μ-3σ,μ+3σ), the clock difference value x is determined as an abnormal clock difference value, and the abnormal clock difference value is eliminated to obtain the initial CGGTTS file.

[0104] Optionally, the reference CGGTTS file generation module 330 is specifically used for:

[0105] The target clock difference formula The clock error values ​​of the reference receivers corresponding to the same time and the same satellite in each of the initial CGGTTS files are weighted averaged to obtain a target clock error value;

[0106] Constructing the reference CGGTTS file based on the target clock difference value;

[0107] Among them, Ref time is the target clock error, i is the reference receiver number, j is the satellite number, Δt ij The clock difference between the satellite time of the three reference receivers with the same satellite number at the same time and the receiver reference time: Δt ij =d ij / c,d ij is the pseudorange value obtained by the reference receiver, and c is the transmission speed of the carrier.

[0108] Optionally, the weight value calculation module 340 to be used includes:

[0109] Based on the common view of the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers, the uncertainty to be weighted of each of the reference receivers is obtained;

[0110] The uncertainty to be weighted is weighted to obtain a weight to be used for each of the reference receivers.

[0111] Optionally, the system is also used for:

[0112] After calculating the weight value to be used for each of the reference receivers based on the reference CGGTTS file, the initial weight value of each of the reference receivers is corrected based on the weight value to be used, and the process of determining the weight value to be used is repeated until the repetition duration is greater than a preset duration threshold.

[0113] Optionally, the target uncertainty calculation module 350 is specifically used to:

[0114] Co-viewing the target CGGTTS file with each of the initial CGGTTS files to obtain at least three candidate uncertainties corresponding to the receiver to be calibrated;

[0115] The target uncertainty of the receiver to be calibrated is determined based on at least three candidate uncertainties and the weight value to be used of each reference receiver.

[0116] The calibration system based on a multi-reference receiver provided in the embodiment of the present invention can execute the calibration method based on a multi-reference receiver provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0117] Embodiment 3

[0118] Figure 5A schematic diagram of the structure of an electronic device provided for Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0119] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0120] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a calibration method based on a multi-reference receiver.

[0122] In some embodiments, the calibration method based on the multi-reference receiver can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the calibration method based on the multi-reference receiver described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the calibration method based on the multi-reference receiver in any other appropriate manner (for example, by means of firmware).

[0123] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0125] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0127] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0128] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0129] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A calibration method based on a multi-reference receiver, characterized in that: include: Obtaining initial uncertainties of at least three reference receivers and determining an initial weight value for each of the reference receivers; Determine an initial CGGTTS file corresponding to each of the reference receivers in the same time period; Based on the initial weight value and the initial CGGTTS file, generating a reference CGGTTS file corresponding to the reference receiver; Determine a weight value to be used corresponding to each of the reference receivers based on a reference CGGTTS file and an initial CGGTTS file of each of the reference receivers; Determining a target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; calibrating the receiver to be calibrated based on the target uncertainty; The obtaining of the initial uncertainties of at least three reference receivers and determining the initial weight value of each of the reference receivers includes: determining the initial uncertainty of each of the reference receivers based on the reference receiver calibration report issued by the BIPM; and obtaining the initial weight value of each of the reference receivers by calculating using an uncertainty weighting formula, wherein the uncertainty weighting formula is as follows: Where i is A, B or C, u A 、u B 、u C is the initial uncertainty corresponding to the three reference receivers A, B, and C respectively, and the initial weight value is ω A ,ω B ,ω C ; Determining the initial CGGTTS file corresponding to each of the reference receivers in the same time period includes: obtaining clock difference values ​​corresponding to the three reference receivers in the same time period, and forming a to-be-processed CGGTTS file of each of the reference receivers based on the clock difference values; filtering out gross errors in the to-be-processed CGGTTS file by 3-Sigma filtering to obtain each of the initial CGGTTS files; The generating of the reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file comprises: The clock error values ​​of the reference receivers corresponding to the same time and the same satellite in each of the initial CGGTTS files are weighted averaged to obtain the target clock error value; the reference CGGTTS file is constructed based on the target clock error value; wherein, Ref time is the target clock error, i is the reference receiver number, j is the satellite number, Δt ij The clock difference between the satellite time of the three reference receivers with the same satellite number at the same time and the receiver reference time: Δt ij =d ij / c,d ij is the pseudorange value obtained by the reference receiver, c is the transmission speed of the carrier; The determining the weight value to be used corresponding to each of the reference receivers based on the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers comprises: obtaining the uncertainty to be weighted of each of the reference receivers based on the common view of the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers; weighting the uncertainty to be weighted to obtain the weight to be used of each of the reference receivers; After calculating the weight value to be used of each of the reference receivers based on the reference CGGTTS file, the method further includes: correcting the initial weight value of each of the reference receivers based on the weight value to be used, and repeatedly performing the determination process of the weight value to be used until the repetition time is greater than a preset time threshold; The target uncertainty of the receiver to be calibrated is determined based on the weight value to be used of each reference receiver, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated, comprising: co-viewing the target CGGTTS file with each of the initial CGGTTS files to obtain at least three candidate uncertainties corresponding to the receiver to be calibrated; and determining the target uncertainty of the receiver to be calibrated based on at least three candidate uncertainties and the weight value to be used of each reference receiver.

2. The method according to claim 1, characterized in that The 3-Sigma filtering is used to filter out the gross errors in the CGGTTS file to be processed to obtain each of the initial CGGTTS files, including: Calculate the standard deviation of the clock error value x in the CGGTTS file to be processed and mean Wherein, n is the total number of clock error values ​​x in the CGGTTS file to be processed; If the clock difference value x is not within the range of (μ-3σ,μ+3σ), the clock difference value x is determined as an abnormal clock difference value, and the abnormal clock difference value is eliminated to obtain the initial CGGTTS file.

3. A calibration system based on a multi-reference receiver, characterized in that: include: An initial weight determination module, used to obtain initial uncertainties of at least three reference receivers and determine an initial weight value of each of the reference receivers; An initial CGGTTS file determination module, used to determine the initial CGGTTS file corresponding to each of the reference receivers in the same time period; A reference CGGTTS file generation module, used to generate a reference CGGTTS file corresponding to the reference receiver based on the initial weight value and the initial CGGTTS file; A weight value calculation module to be used, used to determine the weight value to be used corresponding to each of the reference receivers based on the reference CGGTTS file and the initial CGGTTS file of each of the reference receivers; A target uncertainty calculation module, used to determine the target uncertainty of the receiver to be calibrated based on the weight value to be used of each of the reference receivers, the initial CGGTTS file and the target CGGTTS file of the receiver to be calibrated; A receiver calibration module to be calibrated, used for calibrating the receiver to be calibrated based on the target uncertainty; The initial weight determination module is specifically used for: Determine the initial uncertainty of each reference receiver based on the reference receiver calibration report issued by BIPM; The initial weight value of each reference receiver is calculated by using an uncertainty weighting formula, and the uncertainty weighting formula is as follows: Where i is A, B or C, u A 、u B 、u C is the initial uncertainty corresponding to the three reference receivers A, B, and C respectively, and the initial weight value is ω A ,ω B ,ω C； The initial CGGTTS file determination module includes: a CGGTTS file determination submodule for obtaining clock error values ​​corresponding to the three reference receivers in the same time period, and forming the CGGTTS files to be processed of each reference receiver based on the clock error values; a gross error filtering submodule for filtering out the gross errors in the CGGTTS files to be processed by 3-Sigma filtering to obtain each of the initial CGGTTS files; The reference CGGTTS file generation module is specifically used to: The clock error values ​​of the reference receivers corresponding to the same time and the same satellite in each of the initial CGGTTS files are weighted averaged to obtain the target clock error value; the reference CGGTTS file is constructed based on the target clock error value; wherein, Ref time is the target clock error, i is the reference receiver number, j is the satellite number, Δt ij The clock difference between the satellite time of the three reference receivers with the same satellite number at the same time and the receiver reference time: Δt ij =d ij / c,d ij is the pseudorange value obtained by the reference receiver, c is the transmission speed of the carrier; The weight value calculation module to be used is specifically used to: obtain the uncertainty to be weighted of each reference receiver based on the common view of the reference CGGTTS file and the initial CGGTTS file of each reference receiver; weight the uncertainty to be weighted to obtain the weight to be used of each reference receiver; The system is also used for: after calculating the weight value to be used of each reference receiver based on the reference CGGTTS file, correcting the initial weight value of each reference receiver based on the weight value to be used, and repeatedly performing the determination process of the weight value to be used until the repetition time is greater than a preset time threshold; The target uncertainty calculation module is specifically used to: co-view the target CGGTTS file with each of the initial CGGTTS files to obtain at least three candidate uncertainties corresponding to the receiver to be calibrated; determine the target uncertainty of the receiver to be calibrated based on at least three candidate uncertainties and the weight value to be used of each of the reference receivers.

4. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the calibration method based on a multi-reference receiver according to any one of claims 1 to 2.

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