Ionized layer activeness calculation method and device and mobile observation station

Abstract

The invention discloses an ionosphere activeness calculation method and device and a mobile observation station, and the method comprises the steps: determining a corresponding observation equation according to a received positioning enhancement service, carrying out the resolving of an ionosphere to-be-estimated parameter in the observation equation according to the received GNSS observation data and the observation equation, obtaining the delay amount of an ionosphere according to a resolving result, and obtaining the activeness of the ionosphere according to the delay amount of the ionosphere. According to the ionosphere delay amount, the ionosphere activeness is calculated, a scheme for calculating the ionosphere activeness by using the positioning enhancement service is provided, and the ionosphere activeness can be calculated as long as a mobile terminal or other equipment / sites can receive the positioning enhancement service, that is, the calculation of the ionosphere activeness can be no longer limited to a CORS website, so that the accuracy of the ionosphere activeness is improved. The ionosphere activeness can be calculated by selecting the corresponding observation equation according to the type of the positioning enhancement service, and the ionosphere activeness calculation method is more in selectivity and high in flexibility, meets diversified scene requirements and has good adaptability.

Description

Technical Field

[0001] The present invention relates to the field of ionospheric monitoring, and in particular to an ionospheric activity calculation method, device and mobile station. Background Art

[0002] At present, the monitoring of ionospheric activity is mainly based on the Continuously Operating Reference Stations (CORS) network, using network RTK (Real-Time Kinematic) technology or PPP-RTK technology (PPP is Precise Point Positioning) to provide ionospheric activity monitoring services. The CORS network is composed of multiple CORS stations, and the monitoring range is limited to the coverage of the CORS network. Moreover, the CORS stations are fixed stations with a fixed monitoring range, which is limited to the CORS station locations. It is impossible to monitor the local ionospheric activity in most areas of the CORS network. Summary of the invention

[0003] The present application provides an ionospheric activity calculation method, device and mobile station, which can provide local ionospheric activity within the area where the user is located according to the user's needs, adapt to any complex user environment, have a wide operating range, are easy to carry and move, and can provide warning information for various regional activities affected by ionospheric activity.

[0004] On the one hand, an embodiment of the present application provides a method for calculating ionospheric activity, including:

[0005] Determine the corresponding observation equation according to the received positioning enhancement service;

[0006] According to the received GNSS observation data and the observation equation, the ionospheric parameters to be estimated in the observation equation are solved, and the ionospheric delay value ι is obtained according to the solution result. * ;

[0007] According to the ionospheric delay amount ι * , calculate the ionospheric activity.

[0008] On the other hand, an embodiment of the present application further provides an ionospheric activity calculation device, including a memory and a processor;

[0009] The memory is used to store the ionospheric activity calculation program;

[0010] The processor is used to read the ionospheric activity calculation program and perform the ionospheric activity calculation method as described in the above embodiment based on the initial processing data.

[0011] On the other hand, an embodiment of the present application further provides a mobile station, comprising an antenna and the ionospheric activity calculation device as described in the above embodiment;

[0012] The antenna is used to send the received GNSS observation data and positioning enhancement services to the ionospheric activity calculation device.

[0013] Compared with the related art, the ionospheric activity calculation method, device and mobile station of the embodiment of the present application propose a scheme for calculating the ionospheric activity using positioning enhancement service. Based on this scheme, a single device / station can realize the calculation of ionospheric activity. The mobile terminal or other devices / stations only need to receive positioning enhancement service to calculate the ionospheric activity. That is, the calculation of ionospheric activity is no longer limited to the location of CORS network site, but can select the corresponding observation equation according to the type of positioning enhancement service to realize the calculation of ionospheric activity. The ionospheric activity calculation method has multiple choices and strong flexibility. Since this scheme does not require CORS network, the device / station can calculate the ionospheric activity in any area, which meets the diverse scenario requirements and has good adaptability.

[0014] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0016] Figure 1 is a flow chart of the ionospheric activity calculation method of an embodiment of the present application;

[0017] Figure 2 It is a flow chart of the ionospheric activity calculation method of the specific example of the present application;

[0018] Figure 3 is a schematic diagram of an ionospheric activity calculation device according to an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of a mobile survey station in an embodiment of the present application;

[0020] Figure 5 is a schematic diagram of a mobile system in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0022] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme defined by the claims. Therefore, it should be understood that any features shown and discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0023] In addition, when describing representative embodiments, the specification may have presented the method and process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0024] The present application embodiment provides a method for calculating ionospheric activity, including steps S100-S300, such as Figure 1 As shown:

[0025] S100: determining a corresponding observation equation according to the received positioning enhancement service;

[0026] S200: Solving the ionospheric parameters to be estimated in the observation equation according to the received GNSS observation data and the observation equation, and obtaining the ionospheric delay value ι according to the solution result * ;

[0027] S300: According to the ionospheric delay amount ι * , calculate the ionospheric activity.

[0028] In this embodiment, the observation equation needs to be pre-constructed before executing step S100. The observation equation can be constructed based on the satellite positioning observation equation or the ionospheric delay model. The observation equation including different ionospheric parameters to be estimated can be pre-constructed according to the type of positioning enhancement service. When executing step S100, the corresponding observation equation can be selected according to the received positioning enhancement service.

[0029] In this embodiment, the GNSS observation data in step S200 may come from any system in the global navigation satellite system (GNSS for short, full name Global Navigation Satellite System), such as the GPS system, the GLONASS system, the Beidou satellite navigation system or the Galileo satellite navigation system.

[0030] In this embodiment, the ionospheric activity calculation method can be applied to the single-point ionospheric activity calculation of a mobile survey station; the mobile survey station receives GNSS observation data from a satellite and calculates the ionospheric activity, which can be applied to various fields such as geographic information system data collection, environmental protection monitoring, emergency disaster assessment, radio and television, industrial measurement, transportation, smart city construction, agricultural production, etc. The above-mentioned application field examples are not intended to be limitations of this application and will not be described in detail herein.

[0031] The ionospheric activity calculation method in this embodiment proposes a scheme for calculating the ionospheric activity using the positioning augmentation service. Based on this scheme, as long as the mobile terminal or other device / station can receive the positioning augmentation service, the ionospheric activity can be calculated, that is, the calculation of the ionospheric activity is no longer limited to the CORS website site, but can select the corresponding observation equation according to the type of positioning augmentation service to realize the calculation of the ionospheric activity. The ionospheric activity calculation method has multiple selectivity and strong flexibility, meets the needs of various scenarios, and has good adaptability. When the method is applied to a mobile station, it can calculate the ionospheric delay in the local area above the mobile station, and then obtain the ionospheric activity. The mobile station can be applied to any complex user environment, has a wide operating range, is easy to carry and move, and can provide warning information for various regional activities affected by ionospheric activity.

[0032] In an exemplary embodiment, step S100 may include at least one of steps S110-S130:

[0033] S110: If the positioning enhancement service includes a differential signal service, determining that the observation equation is an RTK observation equation;

[0034] S120: If the positioning enhancement service does not include the differential signal service but includes a precise orbit and clock service, determining that the observation equation is a PPP observation equation;

[0035] S130: If the positioning enhancement service includes neither the differential signal service nor the precise orbit and clock service, determine that the observation equation is a geometry-free observation equation.

[0036] In this embodiment, different observation equations are selected according to the type of positioning enhancement service, and the ionospheric activity calculation method is divided into three branch methods. In step S100, if the positioning enhancement service includes differential signal service and other services, or only includes differential signal service, the RTK observation equation is selected from the pre-constructed observation equation; if the positioning enhancement service includes precise orbit and clock service and other services except differential signal service, or only includes precise orbit and clock service, the PPP observation equation is selected from the pre-constructed observation equation; when there is neither differential signal service nor precise orbit and clock service in the positioning enhancement service, the non-geometry observation equation is selected from the pre-constructed observation equation; that is, when judging the type of positioning enhancement service, firstly judge whether the positioning enhancement service includes differential signal service, and secondly judge whether it includes precise orbit and clock service. As long as differential signal service is included, RTK observation equation is selected, and when there is only precise orbit and clock service, PPP observation equation is selected, that is, when there is neither differential signal service nor precise orbit and clock service, non-geometry observation equation is selected.

[0037] In this embodiment, the differential signal service can come from a regional continuously operating reference station (CORS, full name Continuously Operating Reference Station) network, or from a regional differential service provided by a single differential reference station. The regional continuously operating reference station or the single differential reference station can also receive the GNSS observation data in step S200. The regional CORS network or the single differential reference station and the mobile station are located within a certain area, thereby ensuring the effectiveness of the differential signal for the mobile station.

[0038] In this embodiment, the precise orbit and clock error service comes from global continuously operating reference stations and satellite space information data, and the satellite space information data may include satellite laser ranging data.

[0039] In this embodiment, the differential signal service and the precise orbit and clock service can improve the accuracy of the ionospheric activity calculation results, but they are not necessary data for implementing the ionospheric activity calculation method. If the differential signal service and the precise orbit and clock service are not received, the ionospheric activity calculation method can be implemented only based on GNSS observation data and geometric observation-free equations. When a service provider provides positioning enhancement services, high-precision ionospheric activity can be provided based on the positioning enhancement services. When there is no positioning enhancement service, the ionospheric activity can still be obtained. The positioning enhancement service is an optional option rather than a mandatory option. The ionospheric activity calculation method of this embodiment has good adaptability.

[0040] In an exemplary embodiment, before step S200, at least one of steps S140 and S150 may be further included:

[0041] S140: Performing gross error detection on the received GNSS observation data, and removing the GNSS observation data corresponding to the gross error satellites;

[0042] S150: Perform cycle slip detection on the received GNSS observation data, and reset the ambiguity parameters in the GNSS observation data corresponding to each cycle slip satellite to a predetermined value.

[0043] In this embodiment, the gross error detection in step S140 may include steps S141-S142:

[0044] S141: Determine the number of satellites S corresponding to the GNSS observation data received in step S200. If S≥5, perform gross error detection on the GNSS observation data from the S satellites, and remove the GNSS observation data corresponding to each of the gross error satellites.

[0045] S142: determining whether the number S1 of satellites retained after eliminating gross error satellites is less than 5, and if so, outputting information indicating that the ionospheric activity calculation has failed;

[0046] The gross error satellites are satellites with gross errors, and the satellites without gross errors are non-gross error satellites. The number of non-gross error satellites is S1, and S1≤S.

[0047] In this embodiment, the cycle slip detection in step S150 may include steps S151-S152:

[0048] S151: Determine the number of satellites S corresponding to the GNSS observation data received in step S200, and if S≥5, perform cycle slip detection on the GNSS observation data from the S satellites, and reset the ambiguity parameters in the GNSS observation data corresponding to each cycle slip satellite to a predetermined value;

[0049] S152: determining whether the number S2 of non-cycle-slip satellites is less than 5, and if so, outputting information indicating that the ionospheric activity calculation has failed;

[0050] The cycle-slip satellites are satellites with cycle slips, and the satellites without cycle slips are non-cycle-slip satellites. The number of non-cycle-slip satellites is S2, and S2≤S.

[0051] In this embodiment, according to the single point positioning observation equation P r =A r X r +μ·ι r +t r To detect gross errors, the observation equation dΦ can be used for positioning based on the inter-epoch differential positioning. r =A r dX r -μ·dι r +dt r Perform cycle slip detection, where the bold parameters represent the observation matrix of multiple satellites or multiple frequency points, P r represents the pseudorange observation, Φ r represents the phase observation in meters, dΦ r Represents Φ r The difference between the previous and next epochs, X r =[xyz] T , x, y, z represent the coordinates of the mobile station r in the preset coordinate system, A r =[e x e y e z ],e x 、e y and e z Respectively represent the projection coefficients of the line connecting each satellite and the mobile station r in the x-axis, y-axis, and z-axis directions of the preset coordinate system; ι r represents the non-differential ionospheric delay of the first frequency point of the mobile station r, μ represents ι r Projection at each frequency point, t r P represents the pseudo-range observation r The clock error of the mobile station r on the r Represents X r The difference between the previous and next epochs, dι r Indicates r The difference between the previous and next epochs, dt r Indicates t r The difference between the previous and next epochs.

[0052] In an exemplary implementation, only step S140 may be performed without performing step S150, that is, only gross error detection may be performed without performing cycle slip detection.

[0053] In another exemplary implementation, only step S150 may be performed without performing step S140, that is, only cycle slip detection may be performed without performing gross error detection.

[0054] In another exemplary embodiment, step S140 may be executed first, and then step S150, that is, gross error detection is performed first and then cycle slip detection is performed; as a preferred embodiment, step S150 may be executed only for the GNSS observation data of S1 non-gross error satellites after executing step S140, and if S1≥5, cycle slip detection is performed on the GNSS observation data from S1 satellite, and the ambiguity parameters in the GNSS observation data corresponding to each cycle slip satellite are reset to a predetermined value, that is, it is determined whether there are cycle slip satellites among the non-gross error satellites, and then it is determined whether the number of non-cycle slip satellites S2 is less than 5. If so, information indicating that the ionospheric activity calculation has failed is output, wherein S2≤S1≤S. This embodiment reduces the amount of data calculation for cycle slip detection and improves the efficiency of cycle slip detection.

[0055] In another exemplary implementation, step S150 may be performed first, and then step S140 may be performed, that is, cycle slip detection is performed first and then gross error detection is performed.

[0056] In an exemplary embodiment, the RTK observation equation may include an RTK phase observation equation and an RTK pseudorange observation equation, wherein the RTK phase observation equation is: The RTK pseudorange observation equation is:

[0057] In this embodiment, and Both are based on the double difference operator formula calculate, represents the double difference result of variable*, represents the variable between the satellite s and the mobile station r, represents the variable between satellite s and differential reference station v, represents the variable between the reference satellite t and the mobile station r, represents the variable between the reference satellite t and the differential reference station v, express The unknown integer ambiguity of is the ionospheric parameter to be estimated in the RTK observation equation and is recorded as the double-difference ionospheric parameter to be estimated, represents the double difference projection coefficient; X r =[xyz] T, x, y, z represent the coordinates of the mobile station r in the preset coordinate system, μ represents the non-differential ionospheric delay ι of the first frequency point of the mobile station r r The projections at each frequency point, λ j Represents the wavelength of the jth frequency point.

[0058] In this embodiment, step S200 may include steps S210-S230:

[0059] S210: Obtain the unknown integer ambiguity based on the least squares principle according to the received GNSS observation data and the RTK observation equation Floating point solution of

[0060] S220: Solving the floating point Perform ambiguity resolution and determine the ambiguity integer solution

[0061] S230: Based on the ambiguity integer solution Back-calculate the double-difference ionospheric parameter to be estimated, and use the back-calculation result as the ionospheric delay value i * .

[0062] In this embodiment, the back calculation formula of the double-difference ionospheric parameter to be estimated is: Subscripts 1 and 0 represent two different frequency numbers. If the number of frequency points N>2, then every two frequency numbers are combined in the N frequency points and calculated separately. Then take the average value as ι * , if the number of frequency points N = 2, then the calculated As ι * .

[0063] In this embodiment, the GNSS observation data in step S210 may be the GNSS observation data corresponding to each non-gross error satellite, and the non-gross error satellites include cycle-slip satellites and non-cycle-slip satellites. When executing step S150, the ambiguity parameters in the cycle-slip satellite GNSS observation data are reset to predetermined values; that is, the GNSS observation data in step S210 are the observation data of S1 non-gross error satellites, and in the observation data of these S1 non-gross error satellites, the ambiguity parameters of the cycle-slip satellites are not initial values, but reset predetermined values.

[0064] In this embodiment, the same dynamic constraints as those for RTK positioning are used when performing parameter estimation, and the problem of deviation in the estimated ionospheric delay during RTK positioning is solved by back-calculating the double-difference ionospheric parameters to be estimated.

[0065] In an exemplary embodiment, the PPP observation equation may include a PPP phase observation equation and a PPP pseudorange observation equation, wherein the PPP phase observation equation is The PPP pseudorange observation equation is:

[0066] In this embodiment, and Both are based on the single difference operator formula calculate, represents the single difference result of variable*, represents the variable between the satellite s and the mobile station r, represents the variable between the reference satellite t and the mobile station r, express The unknown integer ambiguity of is the ionospheric parameter to be estimated in the PPP observation equation and is recorded as the single-difference ionospheric parameter to be estimated, represents the single difference projection coefficient; X r =[xyz] T , x, y, z represent the coordinates of the mobile station r in the preset coordinate system, μ represents the non-differential ionospheric delay ι of the first frequency point of the mobile station r r The projections at each frequency point, λ j Represents the wavelength of the jth frequency point.

[0067] In this embodiment, No dynamic constraints are added during parameter estimation. Compared with the PPP positioning technology that adds dynamic constraints, the method of not adding dynamic constraints in this embodiment will deteriorate the positioning effect, but solves the problem of deviation in the estimated ionospheric delay during the PPP positioning process.

[0068] In this embodiment, step S200 may include steps S240-S250:

[0069] S240: Obtain the single-difference ionospheric parameter to be estimated based on the least squares principle according to the received GNSS observation data and the RTK observation equation Floating point solution of

[0070] S250: Decomposing the floating point As the ionospheric delay amount ι * .

[0071] In this embodiment, the GNSS observation data in step S240 may be the GNSS observation data corresponding to each non-gross error satellite, and the non-gross error satellites include cycle-slip satellites and non-cycle-slip satellites. When executing step S150, the ambiguity parameters in the cycle-slip satellite GNSS observation data are reset to predetermined values; that is, the GNSS observation data in step S240 are the observation data of S1 non-gross error satellites, and in the observation data of these S1 non-gross error satellites, the ambiguity parameters of the cycle-slip satellites are not initial values, but reset predetermined values.

[0072] In an exemplary embodiment, the geometry-free observation equation is

[0073] In this embodiment, the superscript t represents the reference satellite t, the superscript s represents the satellite s, the subscripts 1 and 0 represent two different frequency numbers, the subscript GF represents the geometry-free model, the subscript k represents the epoch number, and the subscript r represents the mobile station; It is the ionospheric parameter to be estimated in the geometry-free observation equation and is recorded as the ionospheric parameter to be estimated between epochs.

[0074] In this embodiment, represents the geometric phase observable, Represents the phase observation at the frequency point with frequency number 0, represents the phase observation at the frequency point with frequency number 1, μ0 represents ι r The projection coefficient at the frequency point with frequency number 0, μ1 represents l r The projection coefficient at the frequency point with frequency number 1, l r represents the non-differential ionospheric delay of the first frequency point of the mobile station r; λ1 represents the wavelength of the frequency point with frequency number 1, and λ0 represents the wavelength of the frequency point with frequency number 0, Represents the unknown integer ambiguity of the frequency point with frequency number 1, Represents the unknown integer ambiguity of the frequency point with frequency number 0.

[0075] In this embodiment, step S200 may include steps S260-S270:

[0076] S260: according to the received GNSS observation data and the geometry-free observation equation, based on the epoch-to-epoch difference ionospheric parameter to be estimated The geometry-free solution formula is used to obtain the ionospheric parameters to be estimated. The geometry-free solution

[0077] S270: As the ionospheric delay amount ι * .

[0078] In this embodiment, the geometry-free solution formula is: and represents the geometry-free observations of satellite s and the reference satellite t at two epochs before and after k and k-1. If the number of frequency points N>2, then every two frequency numbers are combined in the N frequency points to calculate Then take the average value as ι * , if the number of frequency points N = 2, then the calculated As ι * .

[0079] In this embodiment, the GNSS observation data in step S260 can be the GNSS observation data corresponding to each of the non-cycle-slip satellites among the non-gross error satellites, that is, the GNSS observation data in step S260 is the GNSS observation data retained after eliminating the gross error satellites and the cycle-slip satellites in the observation data received in step S200.

[0080] In an exemplary embodiment, step S300 may include step S310:

[0081] S310: Calculate the ionospheric activity according to the formula iono = mean (ι * ) calculates the ionospheric activity iono; wherein, mean(ι * ) means to * The maximum and minimum values ​​of multiple ionospheric delays are removed and the average value is taken.

[0082] The above ionospheric activity calculation method is described in detail below using a specific example, including steps S1-S13. Figure 2 As shown:

[0083] S1: Receive GNSS observation data from M satellites and positioning enhancement services sent by service providers;

[0084] S2: Perform gross error detection on the GNSS observation data of M satellites, remove gross error satellites, and retain M1 non-gross error satellites;

[0085] S3: Determine whether M1 is greater than or equal to 5, if yes, execute step S4; if no, execute step S13;

[0086] S4: performing cycle slip detection on the GNSS observation data of M1 non-gross error satellites, and resetting the ambiguity parameters in the GNSS observation data corresponding to each cycle slip satellite to a predetermined value, wherein the number of non-cycle slip satellites is M2;

[0087] S5: Determine whether M2 is greater than or equal to 5, if yes, execute step S6; if no, execute step S13;

[0088] S6: Determine the service type included in the received positioning enhancement service. If the positioning enhancement service includes a differential signal service, execute step S7-1; if the positioning enhancement service does not include a differential signal service but includes a precise orbit and clock service, execute step S7-2; if the positioning enhancement service includes neither a differential signal service nor a precise orbit and clock service, execute step S7-3;

[0089] S7-1: Select RTK observation equation;

[0090] S8-1: Based on the GNSS observation data and RTK observation equations corresponding to non-cycle slip satellites and cycle slip satellites, the floating point solution of the unknown integer ambiguity is obtained based on the least squares principle;

[0091] S9-1: performing ambiguity resolution on the floating point solution to determine the ambiguity integer solution;

[0092] S10-1: Back-calculate the double-difference ionospheric parameters to be estimated based on the ambiguity integer solution, and use the back-calculation result as the ionospheric delay value ι * ;

[0093] S7-2: Select the PPP observation equation;

[0094] S8-2: Based on the GNSS observation data and PPP observation equations corresponding to the non-cycle-slip satellite and the cycle-slip satellite, the floating-point solution of the single-difference ionospheric parameters to be estimated is obtained based on the least squares principle;

[0095] S9-2: Use the floating point solution as the ionospheric delay l * ;

[0096] S7-3: Select the geometry-free observation equation;

[0097] S8-3: According to the GNSS observation data corresponding to each non-cycle-slip satellite and the geometry-free observation equation, the geometry-free solution of the ionospheric parameters to be estimated is obtained based on the geometry-free solution formula of the ionospheric parameters to be estimated based on the epoch difference;

[0098] S9-3: Using inorganic solution as ionospheric delay quantity ι * ;

[0099] S11: According to the ionospheric activity calculation formula iono = mean (ι * ) Calculate the ionospheric activity iono;

[0100] S12: Output ionospheric activity iono;

[0101] S13: Output information indicating that the ionospheric activity calculation has failed.

[0102] The present application also provides an ionospheric activity calculation device, including a memory and a processor. Figure 3 As shown;

[0103] The memory is used to store the ionospheric activity calculation program;

[0104] The processor is used to read the ionospheric activity calculation program and perform the ionospheric activity calculation method as described in the above embodiment based on the initial processing data.

[0105] The present application also provides a mobile station, including an antenna and the ionospheric activity calculation device as described in the above embodiment, such as Figure 4 As shown;

[0106] The antenna is used to send the received GNSS observation data and positioning enhancement services to the ionospheric activity calculation device.

[0107] In this embodiment, the mobile measuring station can be a small packaged device, which is easy to carry and move, can adapt to various complex user environments, and can be used globally. It can be placed in the area where ionospheric activity monitoring is required. A single mobile measuring station can monitor the local ionospheric activity, which is low-cost and easy to promote and apply on a large scale.

[0108] In an exemplary embodiment, the mobile station may also include a user interaction interface, which is used to receive an ionospheric activity acquisition request sent by a user terminal device and send the ionospheric activity calculated by the mobile station to the user terminal device.

[0109] In an exemplary embodiment, the mobile station, the user terminal device, the global navigation satellite system, the server providing the positioning enhancement service, and the communication network can form a mobile system together. Figure 5 As shown; the mobile station and the server jointly receive GNSS observation data from satellites in the global navigation satellite system; the mobile station performs the ionospheric activity calculation method as described in the above embodiment to obtain the ionospheric activity; the user terminal device can send an ionospheric activity acquisition request to the mobile station, and receive the ionospheric activity sent by the mobile station; the server provides differential signal services and / or precise orbit and clock error services to the mobile station based on the GNSS observation data; the communication network is used to send the differential signal services and / or precise orbit and clock error services provided by the server to the mobile station, and the communication network can select any one of the communication methods such as radio, Internet, 5G network, communication satellite, etc. The above-mentioned communication method examples are not intended to be limitations of the present application, and will not be described in detail herein.

[0110] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for calculating ionospheric activity, characterized in that: include: Determine the corresponding observation equation according to the received positioning enhancement service; According to the received GNSS observation data and the observation equation, the ionospheric parameters to be estimated in the observation equation are solved, and the ionospheric delay value ι is obtained according to the solution result. * ; According to the ionospheric delay amount ι * , calculate the ionospheric activity.

2. The ionospheric activity calculation method according to claim 1, characterized in that: The determining, according to the received positioning enhancement service, a corresponding observation equation comprises at least one of the following: If the positioning enhancement service includes a differential signal service, determining that the observation equation is an RTK observation equation; If the positioning enhancement service does not include the differential signal service but includes a precise orbit and clock service, determining that the observation equation is a PPP observation equation; If the positioning enhancement service includes neither the differential signal service nor the precise orbit and clock service, the observation equation is determined to be a geometry-free observation equation.

3. The ionospheric activity calculation method according to claim 1, characterized in that: Before solving the ionospheric parameters to be estimated in the observation equation according to the received GNSS observation data and the observation equation, the method further includes at least one of the following: Performing gross error detection on the received GNSS observation data, and eliminating the GNSS observation data corresponding to each of the gross error satellites; Cycle slip detection is performed on the received GNSS observation data, and ambiguity parameters in the GNSS observation data corresponding to each cycle slip satellite are reset to a predetermined value.

4. The ionospheric activity calculation method according to claim 2, characterized in that: The RTK observation equation includes an RTK phase observation equation and an RTK pseudorange observation equation. The RTK phase observation equation is: The RTK pseudorange observation equation is: in, and Both are based on the double difference operator formula calculate, represents the double difference result of variable*, represents the variable between the satellite s and the mobile station r, represents the variable between satellite s and differential reference station v, represents the variable between the reference satellite t and the mobile station r, represents the variable between the reference satellite t and the differential reference station v, express The unknown integer ambiguity of is the ionospheric parameter to be estimated in the RTK observation equation and is recorded as the double-difference ionospheric parameter to be estimated, represents the double difference projection coefficient; Among them, X r =[xyz] T , x, y, z represent the coordinates of the mobile station r in the preset coordinate system, μ represents the non-differential ionospheric delay ι of the first frequency point of the mobile station r r The projections at each frequency point, λ j Represents the wavelength of the jth frequency point.

5. The ionospheric activity calculation method according to claim 4, characterized in that: The method further comprises solving the ionospheric parameters to be estimated in the observation equation according to the received GNSS observation data and the observation equation, and obtaining the ionospheric delay value ι according to the solution result. * ,include: According to the received GNSS observation data and the RTK observation equation, the unknown integer ambiguity is obtained based on the least squares principle. Floating point solution of The floating point solution Perform ambiguity resolution and determine the ambiguity integer solution Based on the ambiguity integer solution Back-calculate the double-difference ionospheric parameter to be estimated, and use the back-calculation result as the ionospheric delay value i * ; Among them, the back calculation formula of the double difference ionospheric parameter to be estimated is: Subscripts 1 and 0 represent two different frequency numbers. If the number of frequency points N>2, then every two frequency numbers are combined in the N frequency points and calculated separately. Then take the average value as ι * , if the number of frequency points N = 2, then the calculated As ι * .

6. The ionospheric activity calculation method according to claim 2, characterized in that: The PPP observation equation includes a PPP phase observation equation and a PPP pseudorange observation equation. The PPP phase observation equation is: The PPP pseudorange observation equation is: in, and Both are based on the single difference operator formula calculate, represents the single difference result of variable*, represents the variable between the satellite s and the mobile station r, represents the variable between the reference satellite t and the mobile station r, express The unknown integer ambiguity of is the ionospheric parameter to be estimated in the PPP observation equation and is recorded as the single-difference ionospheric parameter to be estimated, represents the single difference projection coefficient; Among them, X r =[xyz] T , x, y, z represent the coordinates of the mobile station r in the preset coordinate system, μ represents the non-differential ionospheric delay l of the first frequency point of the mobile station r r The projections at each frequency point, λ j Represents the wavelength of the jth frequency point.

7. The ionospheric activity calculation method according to claim 2, characterized in that: The geometry-free observation equation is Among them, the superscript t represents the reference satellite t, the superscript s represents the satellite s, the subscripts 1 and 0 represent two different frequency numbers, the subscript GF represents the geometry-free model, the subscript k represents the epoch number, and the subscript r represents the mobile station; is the ionospheric parameter to be estimated in the geometry-free observation equation and is recorded as the ionospheric parameter to be estimated between epochs; in, represents the geometric phase observable, Represents the phase observation at the frequency point with frequency number 0, represents the phase observation at the frequency point with frequency number 1, μ0 represents l r The projection coefficient at the frequency point with frequency number 0, μ1 represents l r The projection coefficient at the frequency point with frequency number 1, ι r represents the non-differential ionospheric delay of the first frequency point of the mobile station r; λ1 represents the wavelength of the frequency point with frequency number 1, and λ0 represents the wavelength of the frequency point with frequency number 0, Represents the unknown integer ambiguity of the frequency point with frequency number 1, Represents the unknown integer ambiguity of the frequency point with frequency number 0.

8. The method for calculating ionospheric activity as claimed in claim 7, characterized in that: The method further comprises solving the ionospheric parameters to be estimated in the observation equation according to the received GNSS observation data and the observation equation, and obtaining the ionospheric delay value ι according to the solution result. * ,include: According to the received GNSS observation data and the geometry-free observation equation, based on the epoch-to-epoch difference ionospheric parameter to be estimated The geometry-free solution formula is used to obtain the ionospheric parameters to be estimated. The geometry-free solution Will As the ionospheric delay amount ι * ; Among them, the geometry-free solution formula is and represents the geometry-free observations of satellite s and the reference satellite t at two epochs before and after k and k-1. If the number of frequency points N>2, then every two frequency numbers are combined in the N frequency points to calculate Then take the average value as ι * , if the number of frequency points N = 2, then the calculated As ι * .

9. An ionospheric activity calculation device, comprising a memory and a processor, characterized in that: The memory is used to store the ionospheric activity calculation program; The processor is used to read the ionospheric activity calculation program and perform the ionospheric activity calculation method as described in any one of claims 1 to 8.

10. A mobile measuring station, characterized in that: include: Antenna and the ionospheric activity calculation device as claimed in claim 9; The antenna is used to send the received GNSS observation data and positioning enhancement services to the ionospheric activity calculation device.

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