A method, device, electronic device and storage medium for measuring snow depth

Abstract

The present application provides a method, device, electronic device and storage medium for measuring snow depth. The method includes: obtaining first signal parameters of a first GNSS antenna and second signal parameters of a second GNSS antenna; determining a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameters, and determining a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameters; calculating a first height between the first GNSS antenna and the snow surface according to the first peak frequency, and calculating a second height between the second GNSS antenna and the snow surface according to the second peak frequency; respectively performing weighted processing on the first height and the second height based on the first peak power spectral density and the second peak power spectral density to obtain a first reference height; and determining the snow depth of the snow covering the land surface based on the first reference height and a second reference height when the land surface is not covered with snow.

Description

Technical Field

[0001] The present application relates to the technical field of snow depth measurement, and in particular to a snow depth measurement method, device, electronic device and storage medium. Background Art

[0002] The Global Navigation Satellite System-Interferometric Reflectometry (GNSS-IR) technology uses the frequency, amplitude, phase and other information of the new signal generated by the interference between the direct GNSS signal and the reflected GNSS signal to invert various parameters of the reflecting surface. In the past decade, GNSS-IR has been widely introduced as a method for estimating snow depth using existing geodetic GNSS stations. The currently common method is to perform Lomb-Scargle spectral analysis on the signal-to-noise ratio of the signals before and after snow cover to obtain the distance from the antenna phase center to the ground under snow-covered and snow-free conditions, and the difference between the two distances is the thickness of the snow.

[0003] Lomb-Scargle spectral analysis is a power spectrum estimation method for processing non-uniform time series data. It fits the data with sine and cosine, and calculates the power spectral density of the data at different frequencies. Since the reflection of GNSS signals is affected by satellite orbits and terrain changes, the received signal time series is usually non-uniformly sampled, so Lomb-Scargle spectral analysis can process non-uniformly sampled data. By extracting the periodic components of the reflected signal, that is, the peak frequency of the power spectral density, it can directly reflect the height value from the reflecting surface to the antenna phase center.

[0004] By combining Lomb-Scargle spectral analysis and different GNSS signals to process non-uniformly sampled SNR data, the height change of the reflecting surface can be accurately calculated. This method significantly improves the measurement accuracy and is suitable for the measurement of snow depth. Using this technology, the signal-to-noise ratio data before and after snow cover can be analyzed, and the distance from the antenna phase center to the ground under snow-covered and snow-free conditions can be calculated, so as to accurately invert the snow depth. This method not only has certain value in geodetic surveying and meteorological research, but also has broad application scenarios in environmental monitoring and disaster warning. However, most studies focus on the signal-to-noise ratio obtained by a single antenna for height measurement. By analyzing the height difference measured before and after, the snow depth measurement can be realized. However, due to the limitations of the antenna placement position and orientation, this single-antenna method can only capture satellite signals in a single direction, resulting in a limited coverage range. At the same time, the height measurement data obtained by a single antenna cannot be compared, and its accuracy and stability are easily affected by the placement position of the single-antenna measurement. Summary of the Invention

[0005] An embodiment of the present application provides a snow depth measurement method, device, electronic device, and storage medium to solve the problem that the height measurement data obtained by a single antenna cannot be compared, and its accuracy and stability are easily affected by the placement position of the single antenna measurement.

[0006] To solve the above technical problems, the embodiments of the present application are implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a snow depth measurement method, and the method includes:

[0008] Obtain first signal parameters generated by reflecting GNSS signals output by a first GNSS satellite received by a first GNSS antenna on the snow surface covering the land surface, and second signal parameters generated by reflecting GNSS signals output by a second GNSS satellite received by a second GNSS antenna on the snow surface covering the land surface;

[0009] Determine a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameters, and determine a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameters;

[0010] Calculate a first height between the antenna phase center of the first GNSS antenna and the snow surface covering the land surface according to the first peak frequency, and calculate a second height between the antenna phase center of the second GNSS antenna and the snow surface covering the land surface according to the second peak frequency;

[0011] Based on the first peak power spectral density and the second peak power spectral density, perform weighted processing on the first height and the second height respectively to obtain a first reference height between the reference antenna phase center and the snow surface covering the land surface;

[0012] Based on the first reference height and a second reference height measured in advance when the land surface is not covered with snow, determine the snow depth of the snow covering the land surface.

[0013] Optionally, the determining the first peak frequency and the first peak power spectral density of the first GNSS antenna according to the first signal parameters includes:

[0014] Obtain a first observed signal-to-noise ratio parameter in the first signal parameters;

[0015] Remove the signal-to-noise ratio parameter of the direct signal in the first observed signal-to-noise ratio parameter to obtain an interference signal-to-noise ratio parameter;

[0016] Analyze the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain the first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna.

[0017] Optionally, the analyzing the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain the first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna includes:

[0018] Perform spectrum analysis on the interference signal-to-noise ratio parameter based on the preset spectrum analysis algorithm to obtain a spectrum analysis result;

[0019] Generate a power spectral density map according to the spectrum analysis result;

[0020] Identify the peak frequency point in the power spectral density map;

[0021] Take the frequency corresponding to the peak frequency point as the first peak frequency, and take the power value corresponding to the peak frequency point as the first peak power spectral density.

[0022] Optionally, the calculating the first height between the antenna phase center of the first GNSS antenna and the snow surface covered by the land surface according to the first peak frequency includes:

[0023] Obtain the signal wavelength of the first GNSS signal;

[0024] Calculate the first height based on the signal wavelength and the first peak frequency.

[0025] Optionally, the calculating the first height based on the signal wavelength and the first peak frequency includes:

[0026] Calculate the first height based on the following formula (1):

[0027]

[0028] In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

[0029] Optionally, the weighting the first height and the second height respectively based on the first peak power spectral density and the second peak power spectral density to obtain the first reference height between the reference antenna phase center and the snow surface covered by the land surface includes:

[0030] Calculate the difference between the first height and the antenna distance difference to obtain a third height, where the antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna;

[0031] Based on the first peak power spectral density and the second peak power spectral density, perform weighted processing on the third height and the second height respectively to obtain a first reference height between the reference antenna phase center and the snow-covered surface of the land surface, where the reference antenna phase center is the antenna phase center of the second GNSS antenna.

[0032] Optionally, the performing weighted processing on the third height and the second height respectively based on the first peak power spectral density and the second peak power spectral density to obtain a first reference height between the reference antenna phase center and the snow-covered surface of the land surface includes:

[0033] Calculate the first reference height based on the following formula (2):

[0034]

[0035] In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

[0036] Optionally, the determining the snow depth of the snow-covered land surface based on the first reference height and a second reference height measured in advance when the land surface is not covered with snow includes:

[0037] Calculate the difference between the second reference height and the first reference height to obtain the snow depth of the snow-covered land surface.

[0038] In a second aspect, an embodiment of the present application provides a snow depth measurement device, and the device includes:

[0039] A parameter acquisition module, configured to acquire a first signal parameter generated by the GNSS signal output by the first GNSS satellite received by the first GNSS antenna after being reflected by the snow-covered surface of the land surface, and a second signal parameter generated by the GNSS signal output by the second GNSS satellite received by the second GNSS antenna after being reflected by the snow-covered surface of the land surface;

[0040] A power determination module, configured to determine a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameter, and determine a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameter;

[0041] An altitude calculation module, configured to calculate a first altitude between an antenna phase center of the first GNSS antenna and a snow surface covering the land surface according to the first peak frequency, and calculate a second altitude between an antenna phase center of the second GNSS antenna and the snow surface covering the land surface according to the second peak frequency;

[0042] A reference altitude acquisition module, configured to perform weighted processing on the first altitude and the second altitude respectively based on the first peak power spectral density and the second peak power spectral density to obtain a first reference altitude between a reference antenna phase center and the snow surface covering the land surface;

[0043] A snow depth determination module, configured to determine a snow depth of the snow covering the land surface based on the first reference altitude and a second reference altitude when the land surface is not covered with snow measured in advance.

[0044] Optionally, the power determination module includes:

[0045] A signal-to-noise ratio parameter acquisition unit, configured to acquire a first observed signal-to-noise ratio parameter in the first signal parameter;

[0046] An interference parameter acquisition unit, configured to remove a signal-to-noise ratio parameter of a direct signal from the first observed signal-to-noise ratio parameter to obtain an interference signal-to-noise ratio parameter;

[0047] A peak power acquisition unit, configured to analyze the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain a first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna.

[0048] Optionally, the peak power acquisition unit includes:

[0049] A spectrum analysis result acquisition subunit, configured to perform spectrum analysis on the interference signal-to-noise ratio parameter based on the preset spectrum analysis algorithm to obtain a spectrum analysis result;

[0050] A power spectral density map generation subunit, configured to generate a power spectral density map according to the spectrum analysis result;

[0051] A peak frequency point identification subunit, configured to identify peak frequency points in the power spectral density map;

[0052] The peak power acquisition subunit is configured to use the frequency corresponding to the peak frequency point as the first peak frequency, and use the power value corresponding to the peak frequency point as the first peak power spectral density.

[0053] Optionally, the height calculation module includes:

[0054] A wavelength acquisition unit configured to acquire the signal wavelength of the first GNSS signal;

[0055] A height calculation unit configured to calculate the first height based on the signal wavelength and the first peak frequency.

[0056] Optionally, the height calculation unit includes:

[0057] The first height is calculated based on the following formula (1):

[0058]

[0059] In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

[0060] Optionally, the reference height acquisition module includes:

[0061] A height difference calculation unit configured to calculate the difference between the first height and the antenna distance difference to obtain a third height, where the antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna;

[0062] A reference height acquisition unit configured to perform weighted processing on the third height and the second height respectively based on the first peak power spectral density and the second peak power spectral density to obtain the first reference height between the reference antenna phase center and the snow surface covering the land surface, where the reference antenna phase center is the antenna phase center of the second GNSS antenna.

[0063] Optionally, the reference height acquisition unit includes:

[0064] The first reference height is calculated based on the following formula (2):

[0065]

[0066] In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, Pi,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

[0067] Optionally, the snow depth determination module includes:

[0068] A snow depth calculation unit for calculating the difference between the second reference height and the first reference height to obtain the snow depth of the snow covering the land surface.

[0069] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0070] A memory, a processor, and a computer program stored on the memory and executable on the processor, where when the computer program is executed by the processor, it implements the snow depth measurement method described in any one of the above.

[0071] In a fourth aspect, an embodiment of the present application provides a readable storage medium, where when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the snow depth measurement method described in any one of the above.

[0072] In the embodiment of the present application, by acquiring the first signal parameters generated by the reflection of the GNSS signal output by the first GNSS satellite received by the first GNSS antenna on the snow surface covering the land surface, and the second signal parameters generated by the reflection of the GNSS signal output by the second GNSS satellite received by the second GNSS antenna on the snow surface covering the land surface. Determine the first peak frequency and the first peak power spectral density of the first GNSS antenna according to the first signal parameters, and determine the second peak frequency and the second peak power spectral density of the second GNSS antenna according to the second signal parameters. Calculate the first height between the antenna phase center of the first GNSS antenna and the snow surface covering the land surface according to the first peak frequency, and calculate the second height between the antenna phase center of the second GNSS antenna and the snow surface covering the land surface according to the second peak frequency. Based on the first peak power spectral density and the second peak power spectral density, perform weighted processing on the first height and the second height respectively to obtain the first reference height between the reference antenna phase center and the snow surface covering the land surface. Based on the first reference height and the second reference height measured in advance when the land surface is not covered with snow, determine the snow depth of the snow covering the land surface. In the embodiment of the present application, by using dual antennas for height measurement and using the peak power spectral density after spectral analysis to perform weighted processing on the height measurement results, the signal reception range can be improved while the accuracy and stability of snow depth measurement can be improved.

[0073] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of this application more obvious and understandable, the specific embodiments of this application are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required to be used in the description of the embodiments of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0075] Figure 1 It is a flowchart of the steps of a snow depth measurement method provided by an embodiment of this application;

[0076] Figure 2 It is a schematic diagram of a dual-antenna combined interferometric altimetry process provided by an embodiment of this application;

[0077] Figure 3 It is a schematic diagram of a dual-antenna combined interferometric altimetry algorithm process provided by an embodiment of this application;

[0078] Figure 4 It is a schematic diagram of the structure of a snow depth measurement device provided by an embodiment of this application;

[0079] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0080] The following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0081] Refer to Figure 1 , which shows a flowchart of the steps of a snow depth measurement method provided by an embodiment of this application. As Figure 1 shown, the snow depth measurement method may include: Step 101, Step 102, Step 103, Step 104, and Step 105.

[0082] Step 101: Obtain the first signal parameters generated by the reflection of the GNSS signals output by the first GNSS satellite received by the first GNSS antenna on the snow surface covering the land surface, and the second signal parameters generated by the reflection of the GNSS signals output by the second GNSS satellite received by the second GNSS antenna on the snow surface covering the land surface.

[0083] The embodiments of this application can be applied to scenarios where dual antennas are used for snow depth measurement.

[0084] The embodiments of this application can be applied to ground stations or devices such as GNSS receivers for snow depth measurement.

[0085] The first GNSS antenna and the second GNSS antenna refer to the GNSS antennas that need to cooperate to measure the snow depth on the land surface. GNSS antennas are mainly used to receive signals from satellites to provide navigation and positioning services.

[0086] The first GNSS satellite is the GNSS satellite corresponding to the first GNSS antenna, and the second GNSS satellite is the GNSS satellite corresponding to the second GNSS antenna. GNSS satellites are the core components of the system, responsible for sending signals containing position and time information to the Earth's surface. These signals are transmitted in the form of electromagnetic waves, covering the global range, and providing positioning and navigation services for receivers on the Earth. GNSS antennas are the key devices for receiving and processing these satellite signals. Its main function is to receive the electromagnetic wave signals emitted by the satellites and convert them into electrical signals for subsequent processing.

[0087] In a specific implementation, the first GNSS satellite and the second GNSS satellite can continuously broadcast L-band signals to the Earth. These signals may encounter various obstacles during propagation, including the snow on the land surface. When the GNSS signal encounters the snow surface, part of the signal will be reflected. At this time, the first GNSS antenna can receive the first signal parameters generated by the reflection of the GNSS signals output by the first GNSS satellite on the snow surface covering the land surface, and the second NGSS antenna can receive the second signal parameters generated by the reflection of the GNSS signals output by the second GNSS satellite on the snow covering the land surface. Specifically, the first GNSS antenna and the second GNSS antenna can simultaneously observe the GNSS signals, and respectively receive the GNSS observables and satellite ephemerides in sequence according to the GNSS-IR altimetry process, and process to obtain data such as signal-to-noise ratio (SNR), elevation angle, and azimuth angle. These data can be used as the corresponding signal parameters, that is, the first signal parameters and the second signal parameters.

[0088] In practical applications, the first GNSS antenna and the second GNSS antenna can point to different ranges of the land surface covered with snow to achieve a larger range of coverage observation and determine the maximum signal coverage.

[0089] After obtaining the first signal parameter and the second signal parameter, step 102 is executed.

[0090] Step 102: Determine the first peak frequency and the first peak power spectral density of the first GNSS antenna according to the first signal parameter, and determine the second peak frequency and the second peak power spectral density of the second GNSS antenna according to the second signal parameter.

[0091] The peak frequency refers to the frequency value corresponding to the maximum value of the curve on the frequency spectrum curve of a pulse wave. It represents the frequency of the harmonic component with the strongest energy among all the harmonic components that make up this pulse wave.

[0092] The peak power spectral density (PSD) is an important parameter used to describe the spectral characteristics of a signal, but it focuses more on the power distribution of the signal at different frequencies. Specifically, the peak power spectral density refers to the peak value of the power distribution within a unit frequency range at a specific frequency point of the signal. It reflects the maximum value of the power density of the signal at this frequency point.

[0093] After obtaining the first signal parameter and the second signal parameter, the first peak frequency and the first peak power spectral density of the first GNSS antenna can be determined according to the first signal parameter, and the second peak frequency and the second peak power spectral density of the second GNSS antenna can be determined according to the second signal parameter. In a specific implementation, the observed signal-to-noise ratio parameter can be extracted from the signal parameters, and then the signal-to-noise ratio parameter after removing the direct signal is subjected to spectral analysis to obtain the peak frequency and the peak power spectral density. This implementation process can be described in detail in combination with the following specific implementation methods.

[0094] In a specific implementation of the present application, the above step 102 may include:

[0095] Sub-step A1: Obtain the first observed signal-to-noise ratio parameter in the first signal parameter.

[0096] In this embodiment, the signal-to-noise ratio (SNR) is a key parameter for measuring the signal quality, which represents the ratio of the useful information in the signal to the noise. The higher the signal-to-noise ratio, the clearer the useful information in the signal, the smaller the noise interference, and the better the signal quality.

[0097] The observed signal-to-noise ratio parameter is the signal-to-noise ratio parameter in the signal parameters received by the GNSS antenna.

[0098] After obtaining the first signal parameter, the first observed signal-to-noise ratio parameter in the first signal parameter can be parsed. Specifically, the GNSS observation data (RINEX 3.0 format) collected by the GNSS antenna and the satellite ephemeris can be processed to obtain data such as signal-to-noise ratio, elevation angle, and azimuth angle.

[0099] After obtaining the first observed signal-to-noise ratio parameter in the first signal parameter, perform sub-step A2.

[0100] Sub-step A2: Remove the signal-to-noise ratio parameter of the direct signal in the first observed signal-to-noise ratio parameter to obtain the interference signal-to-noise ratio parameter.

[0101] After obtaining the first observed signal-to-noise ratio parameter in the first signal parameter, the signal-to-noise ratio parameter of the direct signal in the first observed signal-to-noise ratio parameter can be removed to obtain the interference signal-to-noise ratio parameter.

[0102] In a specific implementation, the direct signal observed in the signal-to-noise ratio data increases as the satellite rises and decreases as the satellite descends. In the absence of multipath effects, this change trend can be simulated by a low-order polynomial. When the GNSS site is affected by the reflected signal, the observed signal-to-noise ratio includes the direct signal and the interference between the direct signal and the reflected signal. In the GNSS-IR method, by fitting the signal-to-noise ratio data with a low-order polynomial, the direct signal in the mixed signal is removed, and finally the signal formed by the interference effect is used to invert the snow depth.

[0103] The observed signal-to-noise ratio SNR can be expressed by the formula: SNR = SNR 趋势 +ΔSNR.

[0104] Where, SNR 趋势 is the trend term signal, and ΔSNR is the residual signal formed by the interference effect of the direct signal and the reflected signal.

[0105] The GNSS-IR technology uses the direct signal of the global navigation satellite system and the interference residual signal formed after reflection on the ground surface to invert the surface parameters. The signal-to-noise ratio observation value represents the signal quality received by the antenna, which is mainly affected by the antenna gain, multipath effect, and satellite signal power. In the case of a low elevation angle, due to the multipath effect, the signal-to-noise ratio will show large fluctuations.

[0106] The interference signal-to-noise ratio parameter obtained by removing the signal-to-noise ratio parameter of the direct signal in the first observed signal-to-noise ratio parameter, that is:

[0107] Interference signal-to-noise ratio parameter

[0108] In the above formula, A is the amplitude, which depends on the power of the transmitted GNSS signal, the elevation angle, the antenna gain pattern, and the dielectric constant and roughness of the reflecting surface, HR where \(h\) is the vertical height from the antenna phase center to the reflector surface, \(\lambda\) is the wavelength, and \(\varphi\) is the phase constant.

[0109] After obtaining the interference signal-to-noise ratio parameter by removing the direct signal's signal-to-noise ratio parameter from the first observed signal-to-noise ratio parameter, sub-step A3 is executed.

[0110] Sub-step A3: Analyze the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain the first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna.

[0111] After obtaining the interference signal-to-noise ratio parameter by removing the direct signal's signal-to-noise ratio parameter from the first observed signal-to-noise ratio parameter, the interference signal-to-noise ratio parameter can be analyzed based on a preset spectrum analysis algorithm to obtain the first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna. Specifically, the interference signal-to-noise ratio parameter can be subjected to spectrum analysis based on a preset spectrum analysis algorithm to obtain a spectrum analysis result. A power spectral density graph can be generated according to the spectrum analysis result. Identify the peak frequency points in the power spectral density graph. Take the frequency corresponding to the peak frequency point as the first peak frequency, and take the power value corresponding to the peak frequency point as the first peak power spectral density.

[0112] In this example, the preset spectrum analysis algorithm can be the Lomb-Scargle spectral analysis method, and the spectrum analysis process can be: Search for peaks in the power spectral density graph, and these peaks correspond to the frequency components of the signal. For each peak, calculate its corresponding power spectral density, so that the peak frequency and the corresponding peak power spectral density can be output.

[0113] It can be understood that the method for obtaining the second peak frequency and the second peak power spectral density is similar to the method for obtaining the first peak frequency and the first peak power spectral density. Here, the process for obtaining the second peak frequency and the second peak power spectral density in this embodiment will not be elaborated in detail.

[0114] After obtaining the first peak frequency and the first peak power spectral density of the first GNSS antenna, and the second peak frequency and the second peak power spectral density of the second GNSS antenna, step 103 is executed.

[0115] Step 103: Calculate the first height between the antenna phase center of the first GNSS antenna and the snow surface covering the land surface according to the first peak frequency, and calculate the second height between the antenna phase center of the second GNSS antenna and the snow surface covering the land surface according to the second peak frequency.

[0116] The antenna phase center is the ideal center point when the antenna transmits or receives electromagnetic wave signals, and it is also the reference point for the observations of the Global Navigation Satellite System (GNSS).

[0117] The first height refers to the height between the antenna phase center of the first GNSS antenna and the snow-covered surface of the land surface.

[0118] The second height refers to the height between the antenna phase center of the second GNSS antenna and the snow-covered surface of the land surface.

[0119] After obtaining the first peak frequency and the second peak frequency, the first height between the antenna phase center of the first GNSS antenna and the snow-covered surface of the land surface can be calculated based on the first peak frequency, and the second height between the antenna phase center of the second GNSS antenna and the snow-covered surface of the land surface can be calculated based on the second peak frequency. Specifically, the calculation process of the first height can be described in detail in combination with the following specific implementation manners.

[0120] In a specific implementation of the present application, step 103 may include:

[0121] Sub-step B1: Obtain the signal wavelength of the first GNSS signal.

[0122] In this embodiment, when measuring the height between the antenna phase center of the first GNSS antenna and the snow surface, the signal wavelength of the first GNSS signal can be obtained.

[0123] After obtaining the signal wavelength of the first GNSS signal, sub-step B2 is executed.

[0124] Sub-step B2: Calculate the first height based on the signal wavelength and the first peak frequency.

[0125] After obtaining the signal wavelength of the first GNSS signal, the first height can be calculated based on the signal wavelength and the first peak frequency. Specifically, the first height can be calculated based on the following formula (1):

[0126]

[0127] In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

[0128] It can be understood that the calculation method of the second height is similar to that of the first height. Specifically, for the solution of calculating the second height, reference can be made to the above calculation scheme of the first height, and this embodiment will not be elaborated here.

[0129] After calculating the first height between the antenna phase center of the first GNSS antenna and the snow-covered surface of the land surface, and the second height between the antenna phase center of the second GNSS antenna and the snow-covered surface of the land surface, step 104 is performed.

[0130] Step 104: Based on the first peak power spectral density and the second peak power spectral density, perform weighted processing on the first height and the second height respectively to obtain a first reference height between the reference antenna phase center and the snow-covered surface of the land surface.

[0131] The reference antenna phase center is the phase center of the antenna for measuring the reference height of the snow surface. In this example, the antenna phase center of the lower GNSS antenna can be used as the reference antenna phase center, that is, the vertical height of the second GNSS antenna is less than the vertical height of the first GNSS antenna. At this time, the antenna phase center of the second GNSS antenna is used as the reference antenna phase center.

[0132] The first reference height refers to the height, that is, the vertical distance, measured between the obtained reference antenna phase center and the snow-covered surface of the land surface.

[0133] After calculating the first height and the second height, the first height and the second height can be weighted respectively based on the first peak power spectral density and the second peak power spectral density to obtain the first reference height between the reference antenna phase center and the snow-covered surface of the land surface. The implementation process can be described in detail in combination with the following specific implementation manners.

[0134] In a specific implementation of the present application, the above step 104 may include:

[0135] Sub-step C1: Calculate the difference between the first height and the antenna distance difference to obtain a third height. The antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna.

[0136] In this embodiment, after calculating the first height between the antenna phase center of the first GNSS antenna and the snow surface, the difference between the first height and the antenna distance difference can be calculated, and this difference can be used as the third height. The antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna.

[0137] During the real-time processing, it is necessary to ensure the consistency and comparability of the altimetry data. At the same time, measure the distance difference between the two antennas to facilitate precise height adjustment in the subsequent processing.

[0138] Sub-step C2: Based on the first peak power spectral density and the second peak power spectral density, perform weighted processing on the third height and the second height respectively to obtain a first reference height between the reference antenna phase center and the snow-covered surface of the land surface, where the reference antenna phase center is the antenna phase center of the second GNSS antenna.

[0139] Furthermore, based on the first peak power spectral density and the second peak power spectral density, weighted processing can be performed on the third height and the second height respectively to obtain a first reference height between the reference antenna phase center and the snow-covered surface of the land surface, where the reference antenna phase center is the antenna phase center of the second GNSS antenna. Specifically, the first reference height can be calculated based on the following formula (2):

[0140]

[0141] In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

[0142] Based on the algorithm of dual-antenna combined interferometric altimetry, the peak power spectral density and peak frequency of each frequency point of each antenna are extracted through Lomb-Scargle spectral analysis. The weighting coefficients are calculated according to the peak power spectral density, and these weighting coefficients are used to perform weighted combination on the dual-antenna altimetry results. By controlling the low-quality reflected SNR data, lower weighting coefficients are given to reduce the influence of noise and interference on the altimetry results and improve the reliability and accuracy of the data.

[0143] After obtaining the first reference height, step 105 is executed.

[0144] Step 105: Based on the first reference height and the second reference height measured in advance when the land surface is not covered with snow, determine the snow depth of the snow covering the land surface.

[0145] The second reference height refers to the height between the reference antenna phase center and the land surface measured when the land surface is not covered with snow.

[0146] After obtaining the first reference height, the snow depth of the snow covering the land surface can be determined based on the first reference height and the second reference height measured in advance when the land surface is not covered with snow. Specifically, the difference between the second reference height and the first reference height can be calculated and used as the snow depth of the snow covering the land surface. The calculation formula is as follows:

[0147] ΔH = H2 - H1 (3)

[0148] In the above formula (3), ΔH is the snow depth, H1 is the first reference height, and H2 is the second reference height.

[0149] The snow depth measurement method provided by the embodiments of the present application obtains the first signal parameters generated by the reflection of the GNSS signals output by the first GNSS satellite received by the first GNSS antenna on the snow surface covering the land surface, and the second signal parameters generated by the reflection of the GNSS signals output by the second GNSS satellite received by the second GNSS antenna on the snow surface covering the land surface. The first peak frequency and the first peak power spectral density of the first GNSS antenna are determined according to the first signal parameters, and the second peak frequency and the second peak power spectral density of the second GNSS antenna are determined according to the second signal parameters. The first height between the antenna phase center of the first GNSS antenna and the snow surface covering the land surface is calculated according to the first peak frequency, and the second height between the antenna phase center of the second GNSS antenna and the snow surface covering the land surface is calculated according to the second peak frequency. The first reference height between the reference antenna phase center and the snow surface covering the land surface is obtained by weighting the first height and the second height based on the first peak power spectral density and the second peak power spectral density respectively. The snow depth of the snow covering the land surface is determined based on the first reference height and the second reference height measured in advance when the land surface is not covered with snow. By using two antennas for height measurement and weighting the height measurement results with the peak power spectral density after spectral analysis, the embodiments of the present application can improve the signal reception range while improving the accuracy and stability of snow depth measurement.

[0150] Refer to Figure 4 , which shows a schematic structural diagram of a snow depth measurement device provided by an embodiment of the present application. As Figure 4 shown, the snow depth measurement device 400 may include:

[0151] A parameter acquisition module 410, configured to acquire first signal parameters generated by reflecting GNSS signals output by a first GNSS satellite received by a first GNSS antenna from a snow-covered surface of the land surface, and second signal parameters generated by reflecting GNSS signals output by a second GNSS satellite received by a second GNSS antenna from the snow-covered surface of the land surface;

[0152] A power determination module 420, configured to determine a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameters, and determine a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameters;

[0153] A height calculation module 430, configured to calculate a first height between an antenna phase center of the first GNSS antenna and the snow-covered surface of the land surface according to the first peak frequency, and calculate a second height between an antenna phase center of the second GNSS antenna and the snow-covered surface of the land surface according to the second peak frequency;

[0154] A reference height acquisition module 440, configured to perform weighted processing on the first height and the second height respectively based on the first peak power spectral density and the second peak power spectral density to obtain a first reference height between a reference antenna phase center and the snow-covered surface of the land surface;

[0155] A snow depth determination module 450, configured to determine the snow depth of the snow covering the land surface based on the first reference height and a second reference height of the land surface without snow cover measured in advance.

[0156] Optionally, the power determination module includes:

[0157] A signal-to-noise ratio parameter acquisition unit, configured to acquire a first observed signal-to-noise ratio parameter in the first signal parameters;

[0158] An interference parameter acquisition unit, configured to remove the signal-to-noise ratio parameter of the direct signal in the first observed signal-to-noise ratio parameter to obtain an interference signal-to-noise ratio parameter;

[0159] A peak power acquisition unit, configured to analyze the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain the first peak frequency and the first peak power spectral density corresponding to the first GNSS antenna.

[0160] Optionally, the peak power acquisition unit includes:

[0161] A spectrum analysis result acquisition subunit, configured to perform spectrum analysis on the interference signal-to-noise ratio parameter based on the preset spectrum analysis algorithm to obtain a spectrum analysis result;

[0162] A power spectral density map generation subunit, configured to generate a power spectral density map according to the spectrum analysis result;

[0163] A peak frequency point identification subunit, configured to identify peak frequency points in the power spectral density map;

[0164] A peak power acquisition subunit, configured to use the frequency corresponding to the peak frequency point as the first peak frequency, and use the power value corresponding to the peak frequency point as the first peak power spectral density.

[0165] Optionally, the height calculation module includes:

[0166] A wavelength acquisition unit, configured to acquire the signal wavelength of the first GNSS signal;

[0167] A height calculation unit, configured to calculate the first height based on the signal wavelength and the first peak frequency.

[0168] Optionally, the height calculation unit includes:

[0169] The first height is calculated based on the following formula (1):

[0170]

[0171] In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

[0172] Optionally, the reference height acquisition module includes:

[0173] A height difference calculation unit, configured to calculate the difference between the first height and the antenna distance difference to obtain a third height, where the antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna;

[0174] A reference height acquisition unit, configured to perform weighted processing on the third height and the second height respectively based on the first peak power spectral density and the second peak power spectral density to obtain the first reference height between the reference antenna phase center and the snow-covered surface of the land surface, where the reference antenna phase center is the antenna phase center of the second GNSS antenna.

[0175] Optionally, the reference height acquisition unit includes:

[0176] The first reference height is calculated based on the following formula (2):

[0177]

[0178] In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

[0179] Optionally, the snow depth determination module includes:

[0180] A snow depth calculation unit, configured to calculate the difference between the second reference height and the first reference height to obtain the snow depth of the snow covering the land surface.

[0181] In the embodiment of the present application, through the use mode of the dual antennas, not only can the collection range of the reflected signal be improved, but also according to the design of the weighting coefficients of the two antennas, the comprehensive detection ability of the system is improved to meet a wider range of application requirements.

[0182] Next, in combination with Figure 2 and Figure 3 The dual-antenna altimetry process and the weighting algorithm process are described in detail as follows.

[0183] As Figure 2 shown, the dual antennas can be antenna 1 and antenna 2. First, signals that can be simultaneously observed by the two antennas can be found between antenna 1 and antenna 2, and GNSS observables and satellite ephemeris are sequentially received according to the GNSS-IR altimetry process, and data such as signal-to-noise ratio (SNR), elevation angle, and azimuth angle are processed.

[0184] Furthermore, the signal-to-noise ratio data can be extracted and processed from the observed data, and the reflected signal can be extracted by using a low-order polynomial detrending. Then the main frequency of the reflected signal is extracted by using the LSP (Line Spectrum Pair) algorithm. Finally, the reflected height can be calculated by using the main frequency of the extracted reflected signal, and the snow depth can be estimated. Specifically, the signal-to-noise ratio data is extracted and processed. The trend of the direct signal is fitted by using a low-order polynomial, and the mixed signal is detrended to obtain the interference signal. The main frequency of the peak of the power spectral density function of the detrended interference signal is extracted by using Lomb-Scargle spectral analysis. The height is calculated according to the relationship between the main oscillation frequency and the height from the receiver to the reflecting surface. The snow depth is obtained by comparing the height differences before and after.

[0185] After that, weighted processing can be performed, that is, the elevation angle, signal-to-noise ratio, and LSP power spectral density are extracted for quality control, and the weighted height is calculated by the dual-antenna interferometric altimetry algorithm. In this example, the peak power spectral density is used as the selection factor for the weighted coefficient.

[0186] The implementation flowchart of the dual-antenna combined interferometric altimetry and the calculation process of the weighted coefficient can be as Figure 3 shown.

[0187] 1. Measure the distance difference D between the two antennas. Ensure that the distance difference between the two antennas is accurately measured and that the two antennas can observe signals simultaneously.

[0188] 2. Obtain the altimetry results of a single antenna. According to the Figure 2 process, sequentially obtain the altimetry results of a single antenna. Denote the altimetry result of antenna 1 as H a , and the altimetry result of antenna 2 as H b . Since there is a distance difference between the antennas, the altimetry result of antenna 1 at the same height as antenna 2 can be denoted as H a -D. Use the weighted combination of H a -D and H b to obtain the calculated height.

[0189] 3. Dual-antenna combined altimetry. For the data results obtained for each antenna, distinguish them by frequency to obtain the peak frequency and peak power spectral density (PSD) of each antenna. Data processing: For each frequency i, denote the peak power spectral density of antenna 1 as P i,1 , and the peak power spectral density of antenna 2 as P i,2 .

[0190] 4. Use Lomb-Scargle spectral analysis to obtain the peak frequency and the corresponding height. For each frequency i, use Lomb-Scargle spectral analysis to obtain the peak frequency f i , and calculate the corresponding height values of antenna 1 and antenna 2 as: h i,1 , h i,2 .

[0191] 5. Use the weighted formula to calculate the weighted altimetry result value h:

[0192]

[0193] In the above formula, h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

[0194] The snow depth measurement device provided by the embodiment of the present application obtains a first signal parameter generated by the reflection of the GNSS signal output by the first GNSS satellite received by the first GNSS antenna on the snow surface covering the land surface, and a second signal parameter generated by the reflection of the GNSS signal output by the second GNSS satellite received by the second GNSS antenna on the snow surface covering the land surface. The first peak frequency and the first peak power spectral density of the first GNSS antenna are determined according to the first signal parameter, and the second peak frequency and the second peak power spectral density of the second GNSS antenna are determined according to the second signal parameter. The first height between the antenna phase center of the first GNSS antenna and the snow surface covering the land surface is calculated according to the first peak frequency, and the second height between the antenna phase center of the second GNSS antenna and the snow surface covering the land surface is calculated according to the second peak frequency. The first height and the second height are weighted respectively based on the first peak power spectral density and the second peak power spectral density to obtain the first reference height between the reference antenna phase center and the snow surface covering the land surface. Based on the first reference height and the second reference height measured in advance when the land surface is not covered with snow, the snow depth of the snow covering the land surface is determined. By using a dual antenna for height measurement and using the peak power spectral density after spectral analysis to weight the height measurement results, the embodiment of the present application can improve the signal reception range while improving the accuracy and stability of snow depth measurement.

[0195] Additionally, the embodiment of the present application also provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the above-mentioned snow depth measurement method is implemented.

[0196] Figure 5 FIG. shows a schematic structural diagram of an electronic device 500 according to an embodiment of the present invention. As Figure 5 shown, the electronic device 500 includes a central processing unit (CPU) 501, which can execute various appropriate actions and processes according to the computer program instructions stored in the read-only memory (ROM) 502 or the computer program instructions loaded from the storage unit 508 into the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0197] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, a microphone, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disc, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0198] Each of the processes and treatments described above can be executed by the processing unit 501. For example, the method of any of the above embodiments can be implemented as a computer software program, which is tangibly contained in a computer-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the CPU 501, one or more actions in the method described above can be executed.

[0199] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the embodiment of the above snow depth measurement method and can achieve the same technical effects. To avoid repetition, it will not be described in detail here. Among them, the computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0200] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0201] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described method of the embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0202] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0203] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0204] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0205] In the embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces. The indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0206] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0207] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0208] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0209] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for measuring snow thickness, characterized in that: The method comprises: Acquire a first signal parameter generated by a GNSS signal output by a first GNSS satellite and received by a first GNSS antenna and reflected by a snow surface covered by a land surface, and obtain a second signal parameter generated by a GNSS signal output by a second GNSS satellite and received by a second GNSS antenna and reflected by a snow surface covered by a land surface; Determine a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameter, and determine a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameter; Calculate a first height between an antenna phase center of the first GNSS antenna and a snow surface covered by the land surface according to the first peak frequency, and calculate a second height between an antenna phase center of the second GNSS antenna and a snow surface covered by the land surface according to the second peak frequency; Based on the first peak power spectrum density and the second peak power spectrum density, respectively, weighting the first height and the second height is performed to obtain a first reference height between a reference antenna phase center and a snow surface covered by the land surface; Determine the snow thickness of the snow covering the land surface based on the first reference height and a pre-measured second reference height when the land surface is not covered with snow; The weighting process of the first height and the second height based on the first peak power spectral density and the second peak power spectral density to obtain a first reference height between the phase center of the reference antenna and the snow surface covered by the land surface includes: Calculate the difference between the first height and the antenna distance difference to obtain a third height, where the antenna distance difference is the height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna; The third height and the second height are weighted based on the first peak power spectral density and the second peak power spectral density, respectively, to obtain a first reference height between the reference antenna phase center and the snow surface covered by the land surface, wherein the reference antenna phase center is the antenna phase center of the second GNSS antenna.

2. The method according to claim 1, characterized in that The determining, according to the first signal parameter, a first peak frequency and a first peak power spectrum density of the first GNSS antenna includes: Obtaining a first observed signal-to-noise ratio parameter in the first signal parameter; Removing the signal-to-noise ratio parameter of the direct signal from the first observation signal-to-noise ratio parameter to obtain an interference signal-to-noise ratio parameter; The interference signal-to-noise ratio parameter is analyzed based on a preset spectrum analysis algorithm to obtain a first peak frequency and a first peak power spectrum density corresponding to the first GNSS antenna.

3. The method according to claim 2, characterized in that The analyzing the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain a first peak frequency and a first peak power spectrum density corresponding to the first GNSS antenna includes: Performing spectrum analysis on the interference signal-to-noise ratio parameter based on the preset spectrum analysis algorithm to obtain a spectrum analysis result; Generate a power spectrum density diagram according to the spectrum analysis result; Identify peak frequency points in the power spectrum density graph; The frequency corresponding to the peak frequency point is used as the first peak frequency, and the power value corresponding to the peak frequency point is used as the first peak power spectrum density.

4. The method according to claim 1, characterized in that: The step of calculating, according to the first peak frequency, a first height between an antenna phase center of the first GNSS antenna and a snow surface covered by the land surface comprises: Acquire a signal wavelength of a first GNSS signal; The first height is calculated based on the signal wavelength and the first peak frequency.

5. The method according to claim 4, characterized in that The calculating the first height based on the signal wavelength and the first peak frequency includes: The first height is calculated based on the following formula (1): In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

6. The method according to claim 1, characterized in that The step of performing weighted processing on the third height and the second height based on the first peak power spectrum density and the second peak power spectrum density to obtain a first reference height between the reference antenna phase center and the snow surface covered by the land surface comprises: The first reference height is calculated based on the following formula (2): In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

7. The method according to claim 1, characterized in that The step of determining the thickness of snow covering the land surface based on the first reference height and a pre-measured second reference height when the land surface is not covered with snow comprises: The difference between the second reference height and the first reference height is calculated to obtain the thickness of snow covering the land surface.

8. A snow thickness measuring device, characterized in that: The device comprises: a parameter acquisition module, configured to acquire a first signal parameter generated by a GNSS signal output by a first GNSS satellite and received by a first GNSS antenna and reflected by a snow surface covered by a land surface, and a second signal parameter generated by a GNSS signal output by a second GNSS satellite and received by a second GNSS antenna and reflected by a snow surface covered by a land surface; a power determination module, configured to determine a first peak frequency and a first peak power spectral density of the first GNSS antenna according to the first signal parameter, and to determine a second peak frequency and a second peak power spectral density of the second GNSS antenna according to the second signal parameter; an altitude calculation module, configured to calculate a first altitude between an antenna phase center of the first GNSS antenna and a snow surface covered by the land surface according to the first peak frequency, and to calculate a second altitude between an antenna phase center of the second GNSS antenna and a snow surface covered by the land surface according to the second peak frequency; a reference height acquisition module, configured to perform weighted processing on the first height and the second height based on the first peak power spectrum density and the second peak power spectrum density, respectively, to obtain a first reference height between a reference antenna phase center and a snow surface covered by the land surface; A snow thickness determination module, configured to determine the snow thickness of the snow covering the land surface based on the first reference height and a pre-measured second reference height when the land surface is not covered with snow; Wherein, the reference height acquisition module includes: a height difference calculation unit, configured to calculate a difference between the first height and an antenna distance difference to obtain a third height, wherein the antenna distance difference is a height difference between the first GNSS antenna and the second GNSS antenna, and the vertical height of the first GNSS antenna is greater than the vertical height of the second GNSS antenna; a reference height acquisition unit, configured to perform weighted processing on the third height and the second height based on the first peak power spectral density and the second peak power spectral density, respectively, to obtain a first reference height between the reference antenna phase center and the snow surface covered by the land surface, wherein the reference antenna phase center is the antenna phase center of the second GNSS antenna.

9. The device according to claim 8, characterized in that The power determination module comprises: A signal-to-noise ratio parameter acquisition unit, configured to acquire a first observed signal-to-noise ratio parameter in the first signal parameter; an interference parameter acquisition unit, configured to remove the signal-to-noise ratio parameter of the direct signal from the first observed signal-to-noise ratio parameter to obtain an interference signal-to-noise ratio parameter; The peak power acquisition unit is used to analyze the interference signal-to-noise ratio parameter based on a preset spectrum analysis algorithm to obtain a first peak frequency and a first peak power spectrum density corresponding to the first GNSS antenna.

10. The device according to claim 9, characterized in that The peak power acquisition unit comprises: A spectrum analysis result acquisition subunit, used for performing spectrum analysis on the interference signal-to-noise ratio parameter based on the preset spectrum analysis algorithm to obtain a spectrum analysis result; A power spectrum density map generating subunit, used for generating a power spectrum density map according to the spectrum analysis result; A peak frequency point identification subunit, used to identify the peak frequency point in the power spectrum density graph; The peak power acquisition subunit is used to use the frequency corresponding to the peak frequency point as the first peak frequency, and use the power value corresponding to the peak frequency point as the first peak power spectrum density.

11. The device according to claim 8, characterized in that The height calculation module comprises: A wavelength acquisition unit, used to acquire a signal wavelength of a first GNSS signal; A height calculation unit is used to calculate the first height based on the signal wavelength and the first peak frequency.

12. The device according to claim 11, characterized in that The height calculation unit comprises: The first height is calculated based on the following formula (1): In the above formula (1), f is the first peak frequency, λ is the signal wavelength of the first GNSS signal, and H R is the first height.

13. The device according to claim 8, characterized in that The reference height acquisition unit comprises: The first reference height is calculated based on the following formula (2): In the above formula (2), h is the first reference height, h i,1 is the third height, h i,2 is the second height, P i,1 is the first peak power spectral density, P i,2 is the first peak power spectral density, i represents the i-th peak frequency, and n is the number of peak frequencies.

14. The device according to claim 8, characterized in that The snow thickness determination module comprises: The snow thickness calculation unit is used to calculate the difference between the second reference height and the first reference height to obtain the snow thickness of the snow covering the land surface.

15. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the snow thickness measurement method according to any one of claims 1 to 7 is implemented.

16. A readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the snow thickness measurement method according to any one of claims 1 to 7.

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