Meteorological element detection method and device based on a pressureless radiosonde

Abstract

Embodiments of the present disclosure provide a method and apparatus for detecting meteorological elements based on a pressureless radiosonde, which are applied to the field of atmospheric detection technology. The method includes obtaining environmental meteorological parameters and Beidou / GNSS signal reception information through a pressureless radiosonde; then, based on the PPPVE positioning and velocity measurement model, calculating the position information and velocity estimation value according to the Beidou / GNSS signal reception information; and then determining the target meteorological elements according to the environmental meteorological parameters, position information, and velocity estimation value, where the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height. In this way, on the basis of not being equipped with a pressure sensor, by combining environmental meteorological parameters and Beidou / GNSS signal reception information, and performing calculations based on the PPPVE positioning and velocity measurement model, high-precision meteorological element detection can be completed. While avoiding the errors caused by the pressure sensor, the cost can also be reduced on the basis of improving the accuracy of meteorological element detection.

Description

Technical Field

[0001] The present disclosure relates to the technical field of data processing, particularly to the technical field of atmospheric sounding, and specifically to a method and device for detecting meteorological elements based on a pressure gauge-free radiosonde. Background Art

[0002] The radiosonde system remains the most fundamental, important, and reliable means in the field of upper-air meteorological sounding to date. It can provide basic atmospheric state information for weather forecasting, climate analysis, meteorological research, and operational services, and is the main data source for the development of modern numerical weather prediction. The radiosonde system generally uses a helium balloon or a hydrogen balloon to carry a radiosonde and enters the upper air at a rising speed of 5-6 m / s to detect environmental meteorological information at different altitude levels.

[0003] A radiosonde generally consists of five parts: a pressure sensor, a temperature sensor, a humidity sensor, a GNSS positioning module, and a wireless communication module. It can measure meteorological parameters such as geopotential height, temperature, pressure, humidity, wind speed, and wind direction in the atmosphere from the ground to an altitude of more than 30 km, and transmit the measured data to a ground workstation through a built-in wireless transmission unit to provide basic atmospheric state information for fields such as weather forecasting, climate analysis, and meteorological research.

[0004] The detection result of the radiosonde equipment depends to a large extent on the position information output by the GNSS positioning module, and the positioning accuracy of the position information will significantly affect the geopotential height, pressure, wind speed, and wind direction parameters.

[0005] For the geopotential height, it is generally directly determined by the GNSS elevation positioning result. For the pressure, there are generally two current detection methods. One is to directly rely on the detection result of the pressure sensor, and the other is to combine the pressure detection and the GNSS positioning result to correct the pressure detection. However, due to the inaccurate calibration process of the pressure sensor and the significant decrease in the accuracy of the pressure sensor in the low-pressure environment at high altitudes, both of the above two strategies will result in low measurement accuracy of the pressure detection result under certain conditions. For wind speed and wind direction, depending on the sensors, they are divided into two categories. One is based on a radiosonde radar, and the other is based on the GNSS positioning result, using the method of epoch-differencing and smoothing to determine the wind direction and wind speed. For the wind direction, the two methods generally have good consistency. For the measurement accuracy of the wind speed, due to the relatively wide beam of the radar, the wind measurement accuracy is relatively low. For example, the wind speed error is about ±1 m / s, and the wind direction error is about ±5°. In contrast, using the GNSS positioning result for wind speed determination has better accuracy, and its detection performance is significantly better than that of the radiosonde radar. Therefore, the method of determining wind direction and wind speed by radiosonde is gradually converted to the GNSS positioning method, and the accuracy of radiosonde is directly related to the performance of GNSS positioning.

[0006] At present, radiosonde equipment generally uses the standard single-point positioning (SPP) method to perform real-time calculation of position information. This method has a simple algorithm, is easy to implement, and has low requirements for the calculation equipment. However, SPP only uses GNSS pseudorange observations and broadcast ephemeris. Since the measurement accuracy of pseudorange observations and the accuracy of broadcast ephemeris are relatively low, the calculated position accuracy is generally at the level of 3 - 10 meters. This method will result in a potential height accuracy of only meters, and the position accuracy is poor at high altitudes, which significantly affects the detection results of high-altitude wind speed and direction. Summary of the Invention

[0007] The present disclosure provides a method and device for detecting meteorological elements based on a pressureless radiosonde.

[0008] According to a first aspect of the present disclosure, there is provided a method for detecting meteorological elements based on a pressureless radiosonde, which is applied to a pressureless radiosonde. The method includes:

[0009] Obtain environmental meteorological parameters and Beidou / GNSS signal reception information;

[0010] Based on the PPPVE positioning and velocity measurement model, calculate the position information and velocity estimation value according to the Beidou / GNSS signal reception information;

[0011] Determine the target meteorological elements according to the environmental meteorological parameters, the position information, and the velocity estimation value. The target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0012] In the above aspect and any possible implementation manner, a further implementation manner is provided. The Beidou / GNSS signal reception information includes Beidou / GNSS observations and PPP-B2b corrections;

[0013] The calculating the position information and velocity estimation value according to the Beidou / GNSS signal reception information based on the PPPVE positioning and velocity measurement model includes:

[0014] Perform data preprocessing on the Beidou / GNSS observations and PPP-B2b corrections;

[0015] Based on the PPPVE positioning and velocity measurement model, calculate the position information and velocity estimation value according to the preprocessed Beidou / GNSS observations and PPP-B2b corrections;

[0016] Wherein, the PPPVE positioning and velocity measurement model includes:

[0017]

[0018] Wherein, Represents the ionosphere-free combined observable of the pseudorange minus the calculated quantity, Represents the ionosphere-free combined observable of the carrier wave minus the calculated quantity, Represents the direction cosine, x represents the coordinate increment of the position of the barometric altimeter-free radiosonde, v represents the three-dimensional velocity information of the barometric altimeter-free radiosonde, and c represents the speed of light in vacuum, Represents the clock difference between the barometric altimeter-free radiosonde and the satellite, m s,Q Represents the wet tropospheric projection function, T r Represents the wet tropospheric delay at the zenith of the barometric altimeter-free radiosonde, Represents the observation noise of the ionosphere-free combined phase of the pseudorange, λ IF Represents the wavelength of the ionosphere-free combination, Represents the ambiguity of the ionosphere-free combination, Represents the observation noise of the ionosphere-free combined phase of the carrier wave.

[0019] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, where the environmental meteorological parameters include environmental temperature and environmental relative humidity;

[0020] Determining the target meteorological elements according to the environmental meteorological parameters, the position information, and the velocity estimate value includes:

[0021] Calculating the geopotential height according to the position information and the acceleration due to gravity;

[0022] Based on the hypsometric formula, calculating the air pressure according to the geopotential height and the environmental temperature;

[0023] Calculating the wind speed and wind direction according to the velocity estimate value.

[0024] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, where the method further includes:

[0025] Based on a preset quality control rule, performing quality control on the environmental meteorological parameters, the Beidou / GNSS signal reception information, and the target meteorological elements.

[0026] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, where the method further includes:

[0027] Based on the communication transmission frequency of the L band, sending the target meteorological elements to a ground receiving station.

[0028] According to the second aspect of the present disclosure, a meteorological element detection device based on a barometric altimeter-free radiosonde is provided. The device includes:

[0029] An acquisition module, configured to acquire environmental meteorological parameters and Beidou / GNSS signal reception information;

[0030] A calculation module, configured to calculate position information and speed estimation values based on the PPPVE positioning and speed measurement model according to the Beidou / GNSS signal reception information;

[0031] A generation module, configured to determine target meteorological elements according to the environmental meteorological parameters, the position information, and the speed estimation values, where the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0032] According to a third aspect of the present disclosure, a pressureless radiosonde is provided. The pressureless radiosonde includes a temperature and humidity sensor, a Beidou / GNSS signal reception module, and an information processing and communication module;

[0033] The temperature and humidity sensor is configured to detect the environmental temperature and environmental relative humidity of the atmospheric environment;

[0034] The Beidou / GNSS signal reception module is configured to receive Beidou / GNSS observations and PPP-B2b corrections;

[0035] The information processing and communication module is configured to calculate position information and speed estimation values based on the PPPVE positioning and speed measurement model according to the Beidou / GNSS observations and PPP-B2b corrections; and is further configured to determine target meteorological elements according to the environmental temperature and environmental relative humidity, the position information, and the speed estimation values, where the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0036] For the above aspects and any possible implementation manners, a further implementation manner is provided.

[0037] A barrier sheet is included between the Beidou / GNSS signal reception module and the information processing and communication module, and the barrier sheet is configured to reduce the interference of the transmission signal frequency of the information processing and communication module on the signal reception of the Beidou / GNSS signal reception module.

[0038] According to a fourth aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, where a computer program is stored on the memory, and when the processor executes the program, the method as described above is implemented.

[0039] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method as described above is implemented.

[0040] A meteorological element detection method and device based on a pressureless radiosonde provided by an embodiment of the present application can obtain environmental meteorological parameters and Beidou / GNSS signal reception information through the pressureless radiosonde; then, based on the PPPVE positioning and velocity measurement model, calculate the position information and velocity estimation value according to the Beidou / GNSS signal reception information; and then determine the target meteorological elements according to the environmental meteorological parameters, position information, and velocity estimation value. The target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height. Based on this, high-precision meteorological element detection can be completed through joint calculation of environmental meteorological parameters and Beidou / GNSS signal reception information based on the PPPVE positioning and velocity measurement model without equipping a pressure sensor, avoiding errors caused by the pressure sensor, and reducing costs while improving the accuracy of meteorological element detection.

[0041] It should be understood that the content described in the Summary of the Invention section is not intended to limit the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. Brief Description of the Drawings

[0042] In combination with the drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more obvious. The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0043] Figure 1 shows a schematic architecture diagram of a pressureless radiosonde according to an embodiment of the present disclosure;

[0044] Figure 2 shows a schematic diagram of an exemplary operating environment in which the embodiments of the present disclosure can be implemented;

[0045] Figure 3 shows a flowchart of a meteorological element detection method based on a pressureless radiosonde according to an embodiment of the present disclosure;

[0046] Figure 4 shows a block diagram of a meteorological element detection device based on a pressureless radiosonde according to an embodiment of the present disclosure;

[0047] Figure 5 shows a block diagram of an exemplary electronic device capable of implementing the embodiments of the present disclosure. Detailed Description of the Embodiments

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0049] In addition, the term "and / or" in this article is merely an associative relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0050] In the present disclosure, without being equipped with a barometric sensor, by combining environmental meteorological parameters and Beidou / GNSS signal reception information, high-precision meteorological element detection can be completed based on the PPPVE positioning and velocity measurement model. While avoiding the errors brought by the pressure sensor, the cost can also be reduced on the basis of improving the detection accuracy of meteorological elements.

[0051] Figure 1 The schematic architecture diagram of a barometerless radiosonde according to an embodiment of the present disclosure is shown. In the barometerless radiosonde 100, there are a temperature and humidity sensor 102, a Beidou / GNSS signal reception module 104, and an information processing and communication module 106.

[0052] In some embodiments, the temperature and humidity sensor 102 can be used to detect environmental meteorological parameters of the atmospheric environment, such as environmental temperature and environmental relative humidity.

[0053] In some embodiments, the temperature and humidity sensor 102 can simultaneously detect the environmental temperature and environmental relative humidity of the atmospheric environment. The temperature and humidity sensor 102 includes an air temperature sensing device and a humidity sensing device. Among them, the air temperature sensing device can adopt a 0.4mm bead-shaped thermistor, and the humidity sensing device can adopt a polymer film humidity-sensitive capacitor to ensure the working accuracy under different conditions such as low temperature and low pressure, high temperature and high pressure, and high humidity during the detection process. Specifically, the technical index requirements for the above two sensing devices can be as shown in Table 1.

[0054] Table 1: Technical Index Requirements for Air Temperature Sensing Device and Humidity Sensing Device

[0055]

[0056] In some embodiments, the Beidou / GNSS signal reception module 104 can be used to receive Beidou / GNSS signal reception information, such as Beidou / GNSS observations and PPP-B2b corrections.

[0057] In some embodiments, the Beidou / GNSS signal receiving module 104 is specifically mainly responsible for receiving pseudorange and phase observations transmitted by Beidou and other GNSS satellites including GPS, and receiving correction information such as PPP-B2b orbits, clock errors, ionosphere, and observation value deviations transmitted by Beidou satellites. Subsequently, through the built-in cable, the Beidou / GNSS signal receiving module 104 can transmit the received data to the information processing and communication module 106 in real time for position information calculation. To adapt to the low-temperature and low-pressure working environment and achieve real-time precise positioning of the radiosonde equipment in different working environments, the technical index requirements that the Beidou / GNSS signal receiving module 104 needs to meet can be as shown in Table 2.

[0058] Table 2: Technical Index Requirements of Beidou / GNSS Signal Receiving Module

[0059]

[0060]

[0061] In some embodiments, the information processing and communication module 106 can be used to calculate position information and speed estimation values based on the PPPVE positioning and speed measurement model according to Beidou / GNSS observations and PPP-B2b corrections; it can also be used to determine target meteorological elements according to environmental temperature, environmental relative humidity, position information, and speed estimation values, and the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0062] In some embodiments, the information processing and communication module 106 can be mainly responsible for receiving the detection results sent back by each sensor, such as receiving environmental meteorological parameters and Beidou / GNSS signal receiving information, processing the detection results, and then sending the processed information back to the ground receiving station by radio communication.

[0063] In some embodiments, for Beidou / GNSS data, that is, Beidou / GNSS signal receiving information, the information processing and communication module 106 performs unified preprocessing and precise point positioning and speed measurement PPPVE processing on the received Beidou / GNSS observation information and Beidou PPP-B2b correction information, obtains the position information of the pressureless radiosonde in real time to calculate the geopotential height, and obtains the speed information of the pressureless radiosonde to calculate the wind speed and wind direction.

[0064] In some embodiments, for the detection results of meteorological parameters, that is, obtaining environmental meteorological parameters, the information processing and communication module 106 combines the air pressure information and geopotential height information at the starting height of the release, performs air pressure detection based on the hypsometric formula, and performs basic quality control on the air pressure, air temperature, and relative humidity data, and marks the quality control code.

[0065] In some embodiments, the information processing and communication module 106 may use radio communication to transmit the detection results of parameters such as air temperature, air pressure, humidity, wind speed, wind direction, and geopotential height to a ground receiving station.

[0066] In some embodiments, a barrier sheet is included between the Beidou / GNSS signal receiving module 104 and the information processing and communication module 106. The barrier sheet is used to reduce the interference of the transmission signal frequency of the information processing and communication module 106 on the signal reception of the Beidou / GNSS signal receiving module 104.

[0067] In some embodiments, the barrier sheet may be made of iron, copper, aluminum, or other alloy materials.

[0068] Specifically, the barrier sheet may be an isolation iron sheet. To solve the compatibility problem between the communication band and the radio frequency of Beidou / GNSS satellite reception, a moderately sized isolation iron sheet may be added between the Beidou / GNSS signal receiving module 104 and the information processing and communication module 106 to effectively reduce the interference of the transmission signal frequency of the information processing and communication module 106 on the reception of GNSS satellite signals. The isolation iron sheet may be made of ordinary iron materials, and there are no clear requirements for the carbon content, etc. The specification size may be set to correspond to the two modules of the Beidou / GNSS signal receiving module 104 and the information processing and communication module 106. It is equivalent to a partition board with a thickness of 1 mm, which plays a role in weakening, but the specific degree of weakening does not need to be forced.

[0069] In some embodiments, different from the current design concept of radiosonde equipment, the pressure gauge-free radiosonde 100 is not equipped with a barometric pressure sensor, and can jointly use ground barometric pressure observations and satellite positioning information for high-precision barometric pressure detection, reducing costs while improving the accuracy of barometric pressure detection. At the same time, to achieve high-precision acquisition of the position information of the radiosonde, the pressure gauge-free radiosonde 100 is equipped with a receiving module that can receive the PPP-B2b correction number broadcast by Beidou satellites, namely the Beidou / GNSS signal receiving module 104 and the information processing and communication module 106, enabling it to real-time resolve the accurate position and speed information of the radiosonde equipment, improve the detection accuracy of parameters such as wind speed and wind direction, and send them to the ground receiving station through radio communication.

[0070] In summary, the temperature and humidity sensor 102 can sense the temperature and humidity information of the environment; the Beidou / GNSS signal receiving module 104 can receive the positioning signals transmitted by Beidou satellites and correction information such as PPP-B2b orbits, clock errors, ionospheres, and observation value deviations; the information processing and communication module 106 can use the positioning observation signals and corrections collected by the Beidou receiver, and adopt the precise point positioning and velocity measurement PPPVE method to accurately calculate the position and velocity of the device in real time, calculate the geopotential height, air pressure, wind speed and wind direction information of the environment where the device is located based on the position and velocity information, and send it to the ground receiving station; based on the above pressureless radiosonde 100 and processing process, high-precision detection of atmospheric vertical information is finally realized, providing reliable observation data for meteorological services.

[0071] Figure 2 FIG. shows a schematic diagram of an exemplary operating environment in which embodiments of the present disclosure can be implemented. As Figure 2 shown, in the pressureless radiosonde 100, the Beidou / GNSS signal receiving module 104 acquires the Beidou / GNSS observations and PPP-B2b corrections to complete the reception of information. The temperature and humidity sensor 102 acquires environmental meteorological parameters including air temperature and relative humidity to complete the detection of temperature and humidity parameters. The information processing and communication module 106 mainly includes three functional components, namely the Beidou / GNSS precise positioning component, the meteorological parameter processing component, and the L-band data communication component. Among them, the Beidou / GNSS precise positioning component can be mainly responsible for using the Beidou / GNSS signal receiving module 104 to acquire Beidou / GNSS pseudorange and phase observations, as well as Beidou PPP-B2b orbit / clock error / observation value deviation corrections, and complete the preprocessing of Beidou / GNSS data and precise point positioning and velocity measurement (PPPVE), so as to provide the position and velocity estimation values to the meteorological parameter processing component; the meteorological parameter processing component can be mainly responsible for using the temperature and humidity sensor 102 to acquire the temperature and relative humidity, and combining the position and velocity estimation values, complete the geopotential height calculation, air pressure calculation, wind direction and wind speed calculation, and meteorological parameter quality control, so as to provide the air pressure, air temperature, relative humidity, geopotential height, wind direction, wind speed, and corresponding quality control codes of each parameter to the L-band data communication component; the L-band data communication component can be mainly responsible for the transmission of detection results and ground control and communication, so as to transmit the detection results to the ground receiving station.

[0072] Figure 3 FIG. shows a flowchart of a meteorological element detection method 300 based on a pressureless radiosonde according to an embodiment of the present disclosure. The method 300 can be included in Figure 1 the pressureless radiosonde 100 or be implemented as the pressureless radiosonde 100.

[0073] In block 310, environmental meteorological parameters and Beidou / GNSS signal reception information are acquired.

[0074] At block 320, based on the PPPVE positioning and velocity measurement model, position information and velocity estimates are calculated according to the Beidou / GNSS signal reception information.

[0075] At block 330, target meteorological elements are determined according to the environmental meteorological parameters, position information, and velocity estimates. The target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0076] In some embodiments, the Beidou / GNSS signal reception information includes Beidou / GNSS observations and PPP-B2b corrections.

[0077] In some embodiments, the above-mentioned calculating of position information and velocity estimates based on the PPPVE positioning and velocity measurement model according to the Beidou / GNSS signal reception information includes:

[0078] Performing data preprocessing on the Beidou / GNSS observations and PPP-B2b corrections;

[0079] Based on the PPPVE positioning and velocity measurement model, calculating position information and velocity estimates according to the preprocessed Beidou / GNSS observations and PPP-B2b corrections;

[0080] Among them, the PPPVE positioning and velocity measurement model includes:

[0081]

[0082] Among them, represents the ionosphere-free combined observable of the pseudorange minus the calculated quantity, represents the ionosphere-free combined observable of the carrier wave minus the calculated quantity, represents the direction cosine, x represents the coordinate increment of the position of the non-pressure radiosonde, v represents the three-dimensional velocity information of the non-pressure radiosonde, c represents the speed of light in vacuum, represents the clock difference between the non-pressure radiosonde and the satellite, m s,Q represents the wet tropospheric projection function, T r represents the wet tropospheric delay at the zenith of the non-pressure radiosonde, represents the observation noise of the ionosphere-free combined phase of the pseudorange, λ IF represents the wavelength of the ionosphere-free combination, represents the ambiguity of the ionosphere-free combination, represents the observation noise of the ionosphere-free combined phase of the carrier wave.

[0083] In some embodiments, the Beidou / GNSS satellite ephemeris information, pseudorange / phase observation information, and Beidou PPP-B2b correction information obtained by the Beidou / GNSS signal receiving module can be uniformly preprocessed. Subsequently, the precise point positioning and velocity determination PPPVE method is used to process the Beidou / GNSS observation data to obtain the real-time position and velocity of the radiosonde, and the geopotential height, air pressure, and wind direction and speed are calculated based on the results.

[0084] In some embodiments, to ensure the realization of precise Beidou / GNSS positioning, data preprocessing can be performed on the observation values, satellite ephemeris, and correction information. For example, for the Beidou / GNSS satellite ephemeris information and Beidou PPP-B2b precise correction product information, judgment and identification can be performed according to the corresponding availability identifiers in the fields. For the pseudorange / phase observation information, the TurboEdit method based on the MW and GF combinations can be used to detect gross errors and cycle slips in the pseudorange and carrier phase observation values, and identify available satellites and observation values.

[0085] In some embodiments, the precise point positioning and velocity determination method can be used to solve the Beidou / GNSS dual-frequency observation data. The PPPVE positioning and velocity determination model is realized by adding velocity parameters to the precise point positioning PPP model.

[0086] In some embodiments, the implementation process of the PPPVE positioning and velocity determination model includes:

[0087] For the PPP model using the carrier phase and pseudorange of Beidou / GNSS, generally, the pseudorange P and carrier phase L observation equations can be expressed as:

[0088]

[0089] In the formula, the subscripts r and j represent the receiver and frequency numbers respectively, and the superscripts s and Q represent the satellite and satellite system respectively; represents the geometric distance between the satellite antenna and the receiver antenna, in meters; c represents the speed of light in vacuum, in meters per second; t r and t s,Q represent the clock biases of the receiver and the satellite respectively, in seconds; m s,Q is the wet tropospheric projection function, related to the satellite elevation angle; T r is the wet tropospheric delay at the receiver zenith, in meters; λ j represents the wavelength of frequency j; represents the ambiguity of frequency j; is the ionospheric delay amplification factor of the frequency f j observation value, and the unit of frequency f j is hertz; is the slant ionospheric delay of the first frequency pseudorange observation value, with the unit of meter; and respectively represent the pseudorange hardware delays of frequency j at the receiver end and satellite end, with the unit of meter; and respectively represent the carrier phase hardware delays of frequency j at the receiver end and satellite end, with the unit of meter; and are respectively the sum of the observation noise, multipath effect and other unmodeled errors of the pseudorange and carrier phase, with the unit of meter;

[0090] In dual-frequency data processing, to eliminate the influence of ionospheric errors, the dual-frequency ionosphere-free combination observation can be used to eliminate the first-order ionospheric errors in the observation values, so as to reduce the number of parameters to be estimated;

[0091] After forming the ionosphere-free combination through the dual-frequency observation equations, the above pseudorange-phase observation equations become:

[0092]

[0093] In the formula, the subscripts m and n respectively represent the frequency numbers, and represent the ionosphere-free combination of the pseudorange and carrier phase observation value deviations at the satellite end;

[0094] After linearizing the satellite-ground distance and integrating the parameters, the BeiDou / GNSS ionosphere-free PPP function model is:

[0095]

[0096] In the formula, and respectively represent the ionosphere-free combination observables of the pseudorange and carrier minus the computed quantity (Observed-Minus-Computed, OMC); is the direction cosine, that is, the three-dimensional unit vector from the receiver r to the satellite s; x represents the coordinate increment of the receiver position;

[0097] Subsequently, on the basis of the above formula, by adding the velocity parameter, the PPPVE dual-frequency ionosphere-free combination function model, that is, the PPPVE positioning and velocity measurement model, can be obtained as follows:

[0098]

[0099] In the formula, v represents the three-dimensional velocity information of the receiving device. It should be noted that this parameter has no obvious relationship with the other parameters, so the coefficient is 0. For this parameter, through solving the Kalman filter state transition matrix of the above function model, it is related to the position information and solved;

[0100] In summary, for the various parameters involved in the above PPPVE model, some are corrected according to empirical models or precision products, and some are obtained by estimation. Among them, the three-dimensional coordinates, three-dimensional velocity, receiver clock error, tropospheric error, and carrier phase ambiguity of the radiosonde equipment are estimated according to the corresponding parameter estimation strategies; while for the satellite orbit, clock error, and observation value deviation information involved in the observation equation, Beidou PPP-B2b correction information is used for correction.

[0101] In some embodiments, the above environmental meteorological parameters include environmental temperature and environmental relative humidity;

[0102] Determining the target meteorological elements based on the environmental meteorological parameters, position information, and velocity estimated value includes:

[0103] Calculating the geopotential height according to the position information and the acceleration due to gravity;

[0104] Based on the hypsometric formula, calculating the atmospheric pressure according to the geopotential height and the environmental temperature;

[0105] Calculating the wind speed and wind direction according to the velocity estimated value.

[0106] In some embodiments, when calculating the longitude, latitude, and geopotential height of the location where the radiosonde equipment is located based on the position information of the radiosonde equipment obtained from the PPPVE positioning and velocity measurement model, it should be noted that the position information obtained by solving the PPPVE method is the three-dimensional coordinates x, y, z in the Earth-centered Earth-fixed coordinate system. According to the radiosonde data processing standard, it needs to be converted to B (geodetic latitude), L (geodetic longitude), and H (orthometric height) in the geodetic coordinate system for data storage and obtaining elevation information. However, there is an elevation anomaly between the orthometric height H and the altitude h due to different reference systems, as shown in the following formula:

[0107] H = h + ξ

[0108] In the formula, ξ represents the elevation anomaly, which can be obtained using the Earth's gravity field model, such as EGM 2008, according to the geodetic latitude and longitude information.

[0109] In some embodiments, the orthometric height information can be used to accurately calculate the geopotential height in combination with the current position and the acceleration due to gravity. Since the positioning accuracy of PPP assisted by Beidou PPP-B2b correction is generally in the centimeter to decimeter level, the detection accuracy of the geopotential height of this equipment can be better than 1 m.

[0110] In some embodiments, based on the hypsometric formula, the atmospheric pressure parameter is calculated according to the geopotential height and the current air temperature, as shown in the following formula:

[0111]

[0112] In the formula, P sand P g respectively represent the air pressures at the current position and the release position, where the air pressure at the release position is provided by a surface meteorological station; h s and h g respectively represent the geopotential heights at the current position and the release position, and g represents the acceleration due to gravity; T s is the air temperature at the current position, obtained by an air temperature sensor; R is the universal gas constant.

[0113] For the geopotential height with decimeter-level accuracy, the relative error of the air pressure parameter calculated by this method does not exceed 0.02%, that is, for the air pressure detection in the order of 1000 hPa, the detection accuracy is better than 0.2 hPa. In addition, this method has high detection consistency for different heights and can obtain relatively accurate air pressure detection results in a low-pressure environment.

[0114] In some embodiments, the three-dimensional velocity information estimated by PPPVE can be used to calculate the wind direction and wind speed. For the three-dimensional velocity in the Earth-centered Earth-fixed coordinate system Adopting the same strategy as the above position conversion, it is converted to the geodetic coordinate system to obtain the zonal velocity and the radial velocity Adding the velocity vectors in the geodetic coordinate system, the instantaneous wind speed and wind direction at this moment can be obtained, as shown in the following formula:

[0115]

[0116] where WSPD and WDIR respectively represent the wind speed and wind direction, and e n is the unit vector pointing due north, which is the starting point of the wind direction. The wind speed is the vector modulus length after the vector summation of the zonal velocity and the radial velocity , and the wind direction is the angle between the vector after the vector summation of the zonal velocity and the radial velocity and e n .

[0117] Under the condition of precisely correcting various errors, the PPPVE speed estimation accuracy is generally better than 0.3 m / s, and the speed direction estimation accuracy is generally better than 3 degrees. Then, this device can achieve a wind speed detection accuracy better than 0.3 m / s and a wind direction detection accuracy better than 3 degrees.

[0118] In some embodiments, the above method further includes:

[0119] Based on preset quality control rules, quality control is performed on environmental meteorological parameters, Beidou / GNSS signal reception information, and target meteorological elements.

[0120] In some embodiments, unified quality control can be performed on the meteorological element parameters obtained through detection and calculation, and the quality control method can be carried out according to the actual needs of users.

[0121] In some embodiments, for each meteorological element parameter, the following quality control steps can be sequentially executed according to the process, mainly including missing data check, limit value check, climatological limit value check of the station, dead value check, monotonicity check, difference check, discrete value check, low-pass filtering check, and consistency check between elements. For different meteorological element parameters, there are differences in the quality control process, as shown in Table 3.

[0122] Table 3: Quality Control Rules for Meteorological Element Parameters

[0123] Quality control steps Air temperature Atmospheric pressure Relative humidity Wind direction Wind speed Geopotential height Missing data check √ √ √ √ √ √ Limit value check √ √ √ √ √ √ Station climatology limit value check √ √ √ Stagnant value check √ √ √ √ √ √ Monotonicity check √ √ Difference check √ √ √ √ √ √ Discrete value check √ √ √ √ √ √ Low-pass filter check √ √ √ √ √ √ Inter-element consistency check √ √ √ √ √ √

[0124] In some embodiments, for each meteorological element parameter, after quality control, quality control codes are marked for each observed value, including correct (0), suspicious (1), wrong (2), modified (4), no observation (7), missing measurement (8), not quality controlled (9), and can be sent back to the ground receiving station through the data communication component along with the meteorological detection results.

[0125] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0126] Environmental meteorological parameters and Beidou / GNSS signal reception information can be obtained through a pressureless radiosonde; based on the PPPVE positioning and velocity measurement model, the position information and velocity estimation value are calculated according to the Beidou / GNSS signal reception information; then, according to the environmental meteorological parameters, position information, and velocity estimation value, the target meteorological elements are determined, and the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height; based on this, on the basis of not being equipped with a pressure sensor, by combining environmental meteorological parameters and Beidou / GNSS signal reception information, and performing calculations based on the PPPVE positioning and velocity measurement model, high-precision meteorological element detection is completed. While avoiding the errors brought by the pressure sensor, the cost can also be reduced on the basis of improving the detection accuracy of meteorological elements.

[0127] In summary, based on the Beidou PPP-B2b precise correction information and the precise point positioning and velocity measurement PPPVE method, real-time high-precision positioning and velocity estimation of the sounding equipment are realized, and high-precision geopotential height, air pressure, wind speed, and wind direction detection are carried out based on the estimation results, achieving a geopotential height detection accuracy better than 1m, an air pressure detection accuracy better than 0.2hPa, a wind speed detection accuracy better than 0.3m / s, and a wind direction accuracy better than 3 degrees.

[0128] In some embodiments, the above method further includes:

[0129] Based on the communication transmission frequency in the L band, the target meteorological elements are sent to the ground receiving station.

[0130] In some embodiments, the detection result data of parameters such as air temperature, air pressure, humidity, wind speed, wind direction, and geopotential height after being detected and processed by the sensor can be sent to the ground receiving station through radio communication.

[0131] In some embodiments, in practical applications, considering factors such as cost, power consumption, and volume, the wireless communication component carried by the radiosonde device needs to adopt a wireless communication component with low cost, low power consumption, and small volume. In addition, the wireless communication component does not use the traditional P band as the communication frequency, but is upgraded to the L band as the data transmission communication emission frequency, avoiding the influence of large-scale interference from mobile communication.

[0132] Based on the wireless communication component, the detection results of the radiosonde device at different altitude layers can be transmitted back to the ground receiving station in real time, realizing real-time, refined, and operational operation of atmospheric detection, and providing services for weather forecasting and climate monitoring.

[0133] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present disclosure.

[0134] The above is the introduction of the method embodiments. The following further illustrates the solution of the present disclosure through device embodiments.

[0135] Figure 4 The block diagram of a meteorological element detection device 400 based on a non - pressure - type radiosonde according to an embodiment of the present disclosure is shown. The device 400 can be included in Figure 1 the non - pressure - type radiosonde 100 or be implemented as the non - pressure - type radiosonde 100. As Figure 4 shown, the device 400 includes:

[0136] An acquisition module 410, configured to acquire environmental meteorological parameters and Beidou / GNSS signal reception information;

[0137] A calculation module 420, configured to calculate position information and speed estimation values based on the PPPVE positioning and speed measurement model according to the Beidou / GNSS signal reception information;

[0138] A generation module 430 is configured to determine target meteorological elements according to environmental meteorological parameters, location information, and speed estimation values. The target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height.

[0139] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the described modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0140] In the technical solution of the present disclosure, the acquisition, storage, and application of user personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0141] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0142] Figure 5 A block diagram of an exemplary electronic device 500 capable of implementing the embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, 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 disclosure described and / or claimed herein.

[0143] The electronic device 500 includes a computing unit 501, which can execute various appropriate actions and processes according to a computer program stored in the ROM 502 or a computer program loaded from the storage unit 508 into the RAM 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. The I / O interface 505 is also connected to the bus 504.

[0144] 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, 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.

[0145] The computing unit 501 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 executes the various methods and processes described above, such as method 300. For example, in some embodiments, method 300 can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 508.

[0146] 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 computing unit 501, one or more steps of the method 300 described above can be executed. Alternatively, in other embodiments, the computing unit 501 can be configured to execute method 300 in any other suitable manner (e.g., by means of firmware).

[0147] Various embodiments of the systems and techniques described above in this document 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-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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, receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0148] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or executed entirely on a remote machine or server.

[0149] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0150] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0151] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can 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), and the Internet.

[0152] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0153] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitations are imposed herein.

[0154] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A meteorological element detection method based on a non-pressure gauge radiosonde, characterized in that Applied to a radiosonde without a barometer, including: Obtain environmental meteorological parameters and Beidou / GNSS signal reception information; the environmental meteorological parameters include environmental temperature and environmental relative humidity; the Beidou / GNSS signal reception information includes Beidou / GNSS observations and PPP-B2b corrections; Based on the PPPVE positioning and velocity measurement model, calculate the position information and velocity estimate according to the Beidou / GNSS signal reception information; the process of calculating the position information and velocity estimate based on the PPPVE positioning and velocity measurement model according to the Beidou / GNSS signal reception information includes: performing data preprocessing on the Beidou / GNSS observations and PPP-B2b corrections; calculating the position information and velocity estimate based on the preprocessed Beidou / GNSS observations and PPP-B2b corrections according to the PPPVE positioning and velocity measurement model; Among them, the PPPVE positioning and velocity measurement model includes: wherein, represents the non - ionospheric combined observable of pseudorange minus the calculated quantity, represents the non - ionospheric combined observable of carrier wave minus the calculated quantity, represents the direction cosine, x represents the coordinate increment of the position of the radiosonde without a pressure gauge, v represents the three - dimensional velocity information of the radiosonde without a pressure gauge, c represents the speed of light in vacuum, represents the clock difference between the radiosonde without a pressure gauge and the satellite, m s,Q represents the wet tropospheric projection function, T r represents the wet tropospheric zenith delay of the radiosonde without a pressure gauge, represents the observation noise of the non - ionospheric combined phase of pseudorange, λ IF represents the wavelength of the non - ionospheric combination, represents the ambiguity of the non - ionospheric combination, represents the observation noise of the non - ionospheric combined phase of the carrier wave; Determine the target meteorological elements according to the environmental meteorological parameters, the position information and the velocity estimate, the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction and geopotential height; the process of determining the target meteorological elements according to the environmental meteorological parameters, the position information and the velocity estimate includes: calculating the geopotential height according to the position information and the acceleration of gravity; calculating the air pressure according to the geopotential height and the environmental temperature based on the hypsometric formula; calculating the wind speed and wind direction according to the velocity estimate.

2. The method according to claim 1, wherein The method further includes: Perform quality control on the environmental meteorological parameters, the Beidou / GNSS signal reception information and the target meteorological elements based on preset quality control rules.

3. The method according to any one of claims 1 to 2, characterized in that, The method further includes: Send the target meteorological elements to the ground receiving station based on the communication transmission frequency of the L band.

4. A meteorological element detection device based on a non-pressure gauge radiosonde, characterized in that, Including: An acquisition module for obtaining environmental meteorological parameters and Beidou / GNSS signal reception information; the environmental meteorological parameters include environmental temperature and environmental relative humidity; the Beidou / GNSS signal reception information includes Beidou / GNSS observations and PPP-B2b corrections; A calculation module for calculating the position information and velocity estimate based on the PPPVE positioning and velocity measurement model according to the Beidou / GNSS signal reception information; specifically, the calculation module is used to perform data preprocessing on the Beidou / GNSS observations and PPP-B2b corrections; calculate the position information and velocity estimate based on the preprocessed Beidou / GNSS observations and PPP-B2b corrections according to the PPPVE positioning and velocity measurement model; Among them, the PPPVE positioning and velocity measurement model includes: Among them, represents the non-ionospheric combined observable of the pseudorange minus the calculated quantity, represents the non-ionospheric combined observable of the carrier wave minus the calculated quantity, represents the direction cosine, x represents the coordinate increment of the position of the barometric altimeter-free radiosonde, v represents the three-dimensional velocity information of the barometric altimeter-free radiosonde, c represents the speed of light in vacuum, represents the clock difference between the barometric altimeter-free radiosonde and the satellite, m s,Q represents the wet tropospheric projection function, T r represents the wet tropospheric zenith delay of the barometric altimeter-free radiosonde, represents the observation noise of the non-ionospheric combined phase of the pseudorange, λ IF represents the wavelength of the non-ionospheric combination, represents the ambiguity of the non-ionospheric combination, represents the observation noise of the non-ionospheric combined phase of the carrier wave; A generation module, configured to determine target meteorological elements according to the environmental meteorological parameters, the position information, and the speed estimation value, where the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height; specifically, the generation module is configured to calculate the geopotential height according to the position information and the acceleration due to gravity; calculate the air pressure based on the hypsometric formula according to the geopotential height and the environmental temperature; calculate the wind speed and wind direction according to the speed estimation value.

5. A radiosonde without a pressure gauge, characterized in that, It includes a temperature and humidity sensor, a Beidou / GNSS signal receiving module, and an information processing and communication module; The temperature and humidity sensor is configured to detect the environmental temperature and environmental relative humidity of the atmospheric environment; The Beidou / GNSS signal receiving module is configured to receive Beidou / GNSS observations and PPP-B2b corrections; The information processing and communication module is configured to calculate the position information and the speed estimation value based on the PPPVE positioning and speed measurement model according to the Beidou / GNSS observations and the PPP-B2b corrections; calculating the position information and the speed estimation value based on the PPPVE positioning and speed measurement model according to the Beidou / GNSS signal receiving information includes: performing data preprocessing on the Beidou / GNSS observations and the PPP-B2b corrections; calculating the position information and the speed estimation value based on the preprocessed Beidou / GNSS observations and the PPP-B2b corrections according to the PPPVE positioning and speed measurement model; Wherein, the PPPVE positioning and speed measurement model includes: Among them, represents the non-ionospheric combined observable of pseudorange minus the calculated quantity, represents the non-ionospheric combined observable of carrier wave minus the calculated quantity, represents the direction cosine, x represents the coordinate increment of the position of the radiosonde without a pressure gauge, v represents the three-dimensional velocity information of the radiosonde without a pressure gauge, c represents the speed of light in vacuum, represents the clock difference between the radiosonde without a pressure gauge and the satellite, m s,Q represents the wet tropospheric projection function, T r represents the wet tropospheric delay at the zenith of the radiosonde without a pressure gauge, represents the observation noise of the non-ionospheric combined phase of pseudorange, λ IF represents the wavelength of the non-ionospheric combination, represents the ambiguity of the non-ionospheric combination, represents the observation noise of the non-ionospheric combined phase of the carrier wave; It is also configured to determine target meteorological elements according to the environmental temperature and environmental relative humidity, the position information, and the speed estimation value, where the target meteorological elements include air temperature, air pressure, relative humidity, wind speed, wind direction, and geopotential height; determining the target meteorological elements according to the environmental meteorological parameters, the position information, and the speed estimation value includes: calculating the geopotential height according to the position information and the acceleration due to gravity; calculating the air pressure based on the hypsometric formula according to the geopotential height and the environmental temperature; calculating the wind speed and wind direction according to the speed estimation value.

6. The radiosonde without a pressure gauge according to claim 5, characterized in that, A barrier sheet is included between the Beidou / GNSS signal receiving module and the information processing and communication module, and the barrier sheet is used to reduce the interference of the transmission signal frequency of the information processing and communication module on the signal reception of the Beidou / GNSS signal receiving module.

7. An electronic device, characterized in that, It includes: At least one processor; And A memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method according to any one of claims 1-3.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-3.

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