GNSS service performance monitoring method and system based on intelligent cloud security network domain

Abstract

The invention relates to a GNSS service performance monitoring method and system based on an intelligent cloud security network domain, and belongs to the technical field of navigation positioning. Comprising the following steps: acquiring GNSS original observation data resolved by a receiver terminal and real position information of a ground object receiving performance monitoring point; based on the characteristics of a security encryption transmission communication means and a cloud service platform, services are carried out on a comprehensive application terminal based on a GNSS satellite navigation system, and the functions of monitoring, evaluating and analyzing the service performance of the GNSS satellite navigation system by a ground object receiving performance monitoring point are realized in any applicable scene. The problem of GNSS satellite navigation system service performance monitoring in different applicable receiving scenes is solved.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a GNSS service performance monitoring method and system based on Zhiyunan network domain. Background Art

[0002] The satellite is in the stage of in-orbit operation, and its operation status is relatively stable, but various abnormal conditions cannot be avoided. It is necessary to monitor the satellite's in-orbit operation status continuously for a long time around the clock and in all weather conditions. Analyze the causes of abnormal status problems and adopt corresponding technical solutions to ensure the performance of user terminal equipment. Based on this, it is urgent to build a targeted service performance monitoring system. The GNSS service performance monitoring system monitors the performance of user terminal equipment of Beidou and other GNSS satellite navigation systems. On this basis, it provides users with stable and reliable navigation time and frequency information service guarantees, and also provides support for the stable operation of the Beidou satellite navigation system. Based on all-round, multi-redundant, and multi-integrated data processing and analysis technical means, improve the monitoring and evaluation plan, and comprehensively use smart cloud services and secure network transmission to meet the needs of GNSS service performance monitoring. Among them, GNSS (Global Navigation Satellite System), the global navigation satellite system, mainly includes: the United States' GPS, Russia's GLONASS, the European Union's Galileo, and China's Beidou satellite navigation system;

[0003] Therefore, there is an urgent need for a GNSS service performance monitoring method based on the intelligent cloud and security network domain to realize the integration of GNSS service performance monitoring with intelligent cloud and security network to form a closed system. Summary of the invention

[0004] In response to the above service performance monitoring needs, the present invention provides a GNSS service performance monitoring method and system based on the Zhiyun Security Network domain to solve the problems raised in the above background technology.

[0005] The technical solution of the present invention is: A GNSS service performance monitoring method based on Zhiyun Security Network Domain, comprising: Obtain the original GNSS observation data solved by the receiver terminal, including position information, second signal measurement value, Doppler frequency shift observation value and DOP value; DOP value, Dilution Of Precision, is related to the number and distribution of observed satellites when the receiver terminal performs single-point positioning, and indicates the geometric conditions of positioning; According to the acquired position information, the positioning solution result is obtained through the absolute single-point positioning solution method, and the positioning accuracy result is obtained by comparing the real position information with the positioning solution result; the obtained second signal measurement value is compared with the standard time through the adjustment method to solve the clock error value and obtain the timing accuracy result; The Doppler frequency shift observation is used to perform velocity measurement and calculation to obtain the running speed of the observed satellite; the least square method is used to calculate the motion speed of the receiver terminal carrier, and the speed measurement accuracy result is obtained by comparing the motion speed of the receiver terminal carrier with the running speed of the observed satellite; Count the number of visible satellites at several cut-off altitude angles according to the type of satellite navigation system, and obtain the number of visible satellites; According to the obtained DOP value, the total epoch number PDOP, HDOP, and VDOP are counted for a single GNSS system or multiple GNSS systems to obtain the DOP result; According to the statistical analysis and evaluation of the message structure and data quality, the message parameter analysis results are obtained based on the statistics of the message calculation results.

[0006] Further, the positioning solution result is obtained by the absolute single-point positioning solution method, including constructing an absolute single-point positioning solution equation group through the positioning observation equation, and obtaining a unique solution for the geocentric coordinate position of the receiver terminal by solving the absolute single-point positioning solution equation group, as the positioning solution result, the absolute single-point positioning solution equation group is: ; in, is the least squares iterative observation error of the observed satellite, for , for , for , is the correction amount of the least squares iteration, is the speed of light; Preferably, The positioning accuracy result is obtained by comparing the real position information with the positioning solution result, including calculating the difference between the real position information and the positioning solution result as the positioning accuracy deviation in a unified coordinate system, including horizontal positioning accuracy deviation and elevation positioning accuracy deviation respectively.

[0007] Furthermore, the clock error value is solved by comparing the obtained second signal measurement value with the standard time through the adjustment method to obtain the clock error value, and the timing accuracy result is obtained, including obtaining the observation satellite clock error value and the receiver terminal clock error value through the timing observation equation, and the timing observation equation is: ; in, is the pseudorange observation, represents the three-dimensional spatial position of the receiver terminal, c is the speed of light, , are respectively the observation satellite clock error and the receiver terminal clock error, , and They are the influencing factors of ionospheric delay error, tropospheric delay error and multipath effect, is the observation noise, is the three-dimensional spatial position of the i-th observation satellite, which is obtained by solving the navigation message data information. The four unknown variables to be solved are the three-dimensional spatial position of the receiver terminal and the receiver terminal clock difference ; From the principle of solving the set of equations, it can be seen that the four unknown variables require four or more observation satellites to solve the three-dimensional spatial position and clock error of the receiver terminal.

[0008] Furthermore, the Doppler frequency shift observation is used to perform velocity measurement and calculation to obtain the observed satellite running speed of the observed satellite. The velocity measurement observation equation is: ; in, is the carrier frequency wavelength, is the Doppler frequency shift observed by the i-th observation satellite, is the pseudorange observation rate of change, is the speed of light, , are the receiver terminal clock error change rate and the i-th observed satellite clock error change rate respectively, , are the ionosphere and troposphere delay change rates, is the observation noise; The pseudorange observation rate of change is: ; in, is the running speed of the i-th observation satellite, is the moving speed of the receiver terminal carrier, is the direction cosine between the receiver terminal carrier and the observation satellite, is the total noise term.

[0009] Furthermore, the total epoch numbers PDOP, HDOP, and VDOP are counted respectively according to a single GNSS system or multiple GNSS systems, and the solution equations of PDOP, HDOP, and VDOP are: Let the matrix Q, ; but: ; ; ; in, , , is the corresponding value of matrix Q.

[0010] Furthermore, the telegram structure, data quality statistical analysis and evaluation are performed based on the statistics of telegram calculation results to obtain telegram parameter analysis results, including building a quality tree model from the aspects of telegram integrity, telegram consistency, telegram correctness and telegram timeliness to describe the quality of telegram parameters.

[0011] Furthermore, the method also includes PVT solution analysis under different parameter configurations, that is, according to the acquired data, the three-dimensional spatial position, speed and time of the receiver terminal in the coordinate system under different parameter configurations are solved. PVT solution: position, speed and time solution of the receiver terminal;

[0012] A GNSS service performance monitoring system based on Zhiyun Security Network Domain, comprising: The data acquisition module is configured to acquire the original GNSS observation data solved by the receiver terminal, including real position information, second signal measurement value, Doppler frequency shift observation value and DOP value; The positioning module is configured to obtain a positioning solution result by an absolute single-point positioning solution method according to the acquired real position information, and obtain a positioning accuracy result by comparing the position information with the positioning solution result; The timing module is configured to compare the acquired second signal measurement value with the standard time through the adjustment method to solve the clock error value and obtain the timing accuracy result; The speed measurement module is configured to use the Doppler frequency shift observation to perform speed measurement and calculation to obtain the running speed of the observation satellite; use the least square method to calculate the movement speed of the receiver terminal carrier, and obtain the speed measurement accuracy result by comparing the movement speed of the receiver terminal carrier with the running speed of the observation satellite; The visible satellite module is configured to count the number of visible satellites at a number of cut-off altitude angles according to the satellite navigation system category, and obtain a monitoring result of the number of visible satellites; The DOP module is configured to respectively count the total epoch numbers PDOP, HDOP, and VDOP according to a single GNSS system or multiple GNSS systems to obtain a DOP value monitoring result; The telegram analysis module is configured to perform statistical analysis and evaluation on the structure and data quality of the telegram, and obtain the telegram parameter analysis results based on the statistics of the telegram calculation results.

[0013] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device, for carrying out a GNSS service performance monitoring method based on the Zhiyunan network domain.

[0014] A terminal device includes a processor and a computer-readable storage medium, the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded and executed by the processor to implement a GNSS service performance monitoring method based on the Zhiyunan network domain.

[0015] The beneficial effects of the present invention are: Compared with the prior art, the present invention provides a GNSS service performance monitoring method and system technology solution based on the Zhiyun'an network domain, which is suitable for monitoring the service performance status of the GNSS satellite navigation system at different ground object reception performance monitoring points, and enhances the availability and universality of GNSS satellite navigation signal reception performance monitoring; based on the characteristics of secure encrypted transmission communication means and cloud service platform, it provides services for comprehensive application terminals based on the GNSS satellite navigation system, realizes the monitoring, evaluation and analysis of the GNSS satellite navigation system service performance functions at the ground object reception performance monitoring points in any applicable scenario, and solves the problem of GNSS satellite navigation system service performance monitoring in different applicable reception scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the specification of this application are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0017] Figure 1 It is a flow chart of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 2 It is a schematic diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 3 It is a positioning monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 4 It is a timing monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 5 It is a speed measurement monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the visible satellite number monitoring principle of a GNSS service performance monitoring method based on the Zhiyunan network domain according to an embodiment of the present invention; Figure 7 It is a DOP value monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Figure 8 It is a navigation message data quality structure diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of message parameter analysis of a GNSS service performance monitoring method based on the Zhiyun Security Network domain according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further defined below in conjunction with the accompanying drawings and embodiments, but is not limited thereto.

[0019] Example 1 like Figure 1 As shown, this embodiment discloses a GNSS service performance monitoring method based on the Zhiyun Security Network domain. Figure 2 It is a schematic diagram of a GNSS service performance monitoring method based on the Zhiyun Security Network domain according to an embodiment of the present invention; comprising: S4.1: Positioning accuracy; Figure 3 It is a positioning monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; S4.1.1: Principle analysis Positioning accuracy refers to the difference between the location information provided to users by the GNSS satellite navigation system service and the user's actual location. Specifically, it refers to the horizontal positioning accuracy and elevation positioning accuracy. In the service performance monitoring system, it is the comparison between the location information calculated by the receiver terminal and the actual location of the ground feature receiving performance monitoring point.

[0020] S4.1.2: Solution Method The absolute single point positioning solution is as follows: The receiver terminal obtains pseudo-range observations, observation satellite coordinates and other information; the values ​​to be calculated are: the receiver terminal clock error, the three-dimensional spatial position of the ground object reception performance monitoring point, a total of 4 unknowns to be calculated; if the 4 unknowns to be calculated are to be solved, 4 positioning observation equations must be constructed. Therefore, to achieve absolute single-point positioning, 4 or more satellites must be observed simultaneously to form an absolute single-point positioning solution equation group.

[0021] Positioning observation equation: ; in, is the pseudorange observation (correcting the ionosphere and troposphere delay errors), is the actual distance between the receiver terminal and the observed satellite, is the speed of light, is the receiver terminal clock error, is the instantaneous geocentric coordinate position of the i-th observation satellite, which can be solved by the navigation message data. is the geocentric coordinate position of the receiver terminal.

[0022] Absolute single point positioning solution equations: ; Express the above formula in matrix form: ; Observation matrix: ; State Matrix: ; The matrix of unknown numbers to be found is: ; Solve the above set of equations to obtain the unique solution for the geocentric coordinate position of the receiver terminal: ; S4.1.3: Analytical Process 1) The receiver terminal uses the original GNSS observation data to solve the positioning result of the receiving performance monitoring point. The specific solution method is given in detail in the above article; 2) Compare the real position information of the receiving performance monitoring point with the calculated positioning result. In the unified coordinate system, the difference between the two is the positioning accuracy deviation, in meters; 3) Comprehensively display the receiving performance, monitor the positioning accuracy of the point, and calculate the horizontal error ; will gather The elements are sorted in ascending order to obtain an ordered set ; will gather The elements are sorted in ascending order to obtain an ordered set ; 4) Horizontal positioning accuracy deviation is , the elevation positioning accuracy deviation is ;in , For rounding operation, is the total number of epochs.

[0023] S4.2: Timing accuracy; Figure 4 It is a timing monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention; S4.2.1: Principle analysis Timing accuracy refers to the receiver terminal receiving satellite navigation signals to obtain the timing information of the GNSS satellite navigation system, and calculating the deviation between the current time and the current standard time. Monitoring and evaluating timing accuracy refers to monitoring and evaluating the time synchronization accuracy performance of the timing function of the receiver terminal. The principle is to compare the time information output by the receiver terminal with the second signal provided by the standard time system, obtain the actual deviation value of the timing result, and realize the monitoring and evaluation of timing accuracy.

[0024] The time interval counter outputs the second signal provided by the standard time system, and the time information clock difference is compared with the second signal measurement value output by the receiver terminal to obtain the clock difference value.

[0025] S4.2.2: Solution Method The receiver terminal timing accuracy calculation method is as follows: When using the GNSS satellite navigation system for measurement, it generally refers to multi-star single-station measurement, that is, the receiving performance monitoring point of the feature with a known three-dimensional spatial position uses the receiver terminal to track multiple observation satellites at the same time and is in a stable tracking operation state. When tracking multiple observation satellites at the same time, multiple equations for solving unknowns can be determined, and the unknowns to be solved are the same clock difference values. Therefore, the adjustment method can be used to solve the clock difference value to improve the solution accuracy.

[0026] Timing observation equation: ; in, is the pseudorange observation, represents the three-dimensional spatial position of the receiver terminal, c is the speed of light, , are respectively the observation satellite clock error and the receiver terminal clock error, , and They are the influencing factors of ionospheric delay error, tropospheric delay error and multipath effect, is the observation noise. is the three-dimensional spatial position of the i-th observation satellite, which can be obtained by solving the navigation message data information. The four unknown variables to be solved are the three-dimensional spatial position of the receiver terminal and the receiver terminal clock difference ; From the principle of solving the set of equations, it can be seen that four unknown variables require four or more observation satellites, which can solve the three-dimensional spatial position and clock difference of the receiver terminal to achieve positioning and timing accuracy.

[0027] It can be confirmed that the timing accuracy result is credible only when the receiver terminal obtains the correct position information solution. Otherwise, the output value is the time when the clock error parameter correction is not added inside the receiver terminal, and the result is unreliable. If the coordinate position of the ground object receiving performance monitoring point is known and reliable, and the only unknown number to be calculated is the clock error value, then only one observation satellite needs to be stably tracked to meet reliable timing.

[0028] S4.2.3: Analytical Process 1) The receiver terminal outputs 1PPS second signal; 2) The time interval counter provides the second signal of the standard time system; 3) Comprehensively display the timing deviation (clock error value); remove the gross error of the clock error measurement value from the data obtained within the total epoch number. If the proportion of remaining valid data is less than 95% of the total epoch data, the timing accuracy is unqualified; 4) Arrange the N-bit data after eliminating errors in ascending order, and The result is a measure of the timing accuracy. This is the rounding operation.

[0029] S4.3: speed measurement accuracy; S4.3.1: Principle analysis Speed ​​measurement accuracy refers to the real-time motion speed accuracy of the terminal carrier when the receiver terminal receives the satellite navigation signal; the true value of the receiver terminal speed in a stationary state is 0; the principle is to use the Doppler frequency shift observation in the original GNSS observation data to perform speed measurement and solve to obtain speed measurement accuracy. Figure 5 It is a speed measurement monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention;

[0030] S4.3.2: Solution Method Using Doppler frequency shift observations to calculate velocity, the solution equation is: ; in, is the carrier frequency wavelength, is the Doppler frequency shift observed by the i-th observation satellite, is the pseudorange observation rate of change, is the speed of light, , are the receiver terminal clock error change rate and the i-th observed satellite clock error change rate respectively, , are the ionosphere and troposphere delay change rates, is the observation noise.

[0031] Receiver Terminal With observation satellite The direction cosines between are: ; ; ; The pseudorange observation rate of change is: ; in, is the running speed of the i-th observation satellite, is the carrier motion speed of the receiver terminal, is the direction cosine between the receiver terminal and the observed satellite i, is the total noise term.

[0032] The satellite clock error change rate is on the order of 0.001ns / s, which can be ignored; the ionosphere and troposphere delay change rates are ignored; the observation satellite position and the observation satellite running speed can be solved by the navigation message data information; the approximate three-dimensional spatial position of the receiver terminal is obtained, and the receiver terminal carrier motion speed and the receiver terminal clock error change rate are unknown variables to be solved; receive 4 or more observation satellites, construct a set of solution equations, and use the least squares method to solve the unknown variables to be solved.

[0033] The pseudorange observation rate of change is transformed into: ; Described in matrix form as: ; in, , , expressed in the form of a matrix, the carrier motion speed of the receiver terminal is: ; S4.3.3 Analytical procedures 1) The receiver terminal obtains Doppler frequency shift observations and navigation message data, and calculates and obtains the position and speed of the observed satellite; 2) Obtain the approximate three-dimensional spatial position of the receiver terminal and calculate the carrier motion speed of the receiver terminal by the least squares method; 3) Comprehensively display the velocity measurement accuracy of the ground object receiving performance monitoring point, and eliminate the gross errors of the measurement value of the obtained data sequence; if the proportion of valid data after eliminating the errors is less than 95% of the total data, the timing accuracy is unqualified; 4) Arrange the N-bit data after eliminating errors in ascending order, and The result is used as the speed measurement accuracy measurement value. This is the rounding operation.

[0034] S4.4: Number of visible satellites S4.4.1: Principle analysis The number of visible satellites refers to the number of observation satellites that can be received by the receiver terminal at the ground object reception performance monitoring point; it is related to the cut-off altitude angle for receiving satellite navigation signals. As the cut-off altitude angle is reduced, the number of visible satellites increases accordingly. Figure 6 It is a schematic diagram of the visible satellite number monitoring principle of a GNSS service performance monitoring method based on the Zhiyunan network domain according to an embodiment of the present invention;

[0035] S4.4.2: Solution Method Under the influence of factors such as shadows, obstructions, and fading, a single GNSS satellite navigation system may have insufficient visible satellites. The number of visible satellites is directly related to the cut-off altitude angle. By lowering the cut-off altitude angle, the number of visible satellites increases accordingly.

[0036] S4.4.3: Analytical process 1) The receiver terminal outputs the number of visible satellites; 2) According to the satellite navigation system type, the number of visible satellites with cut-off elevation angles of 10°, 15°, 30°, 40° and 45° were counted respectively; 3) Comprehensive display of the number of visible satellites.

[0037] S4.5: Analysis of spatial distribution of DOP values S4.5.1: Principle analysis The DOP value refers to the precision factor, which includes: GDOP (Geometric Dilution of Precision); PDOP (3D Position Dilution of Precision); HDOP (horizontal component dilution of precision); VDOP (vertical Dilution of Precision); TDOP (clock dilution of precision); The DOP value reflects the proportional coefficient between the pseudorange error caused by the geometric spatial layout of the observation satellite and the receiver terminal and the terminal position error. It is an important indicator for evaluating position accuracy and indicates the contribution of the observation quantity to the position solution. The DOP value decreases as the number of visible satellites increases. Figure 7 It is a DOP value monitoring principle diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention;

[0038] S4.5.2: Solution Method Receiver terminal three-dimensional spatial position , observe the satellite position , assuming the matrix H is: ; in, , the first three columns of the matrix H are the direction cosine vectors between the receiver terminal and the observed satellite.

[0039] Satisfying 4 observation satellites, matrix Q: ; PDOP, HDOP, VDOP solution equations: ; ; ; S4.5.3: Analytical process 1) Receiver terminal output DOP value; 2) Count the total epochs PDOP, HDOP, and VDOP by single GNSS system / multiple GNSS systems respectively; 3) Comprehensively display the statistical results of DOP values.

[0040] S4.6: Message parameter analysis S4.6.1: Principle analysis The telegram parameter analysis consists of the following components: 1) Post-statistics of message parameters, monitoring and evaluation of message parameters at monitoring points of ground object reception performance; 2) Statistical analysis and evaluation of message structure and data quality. Fig. 9 It is a schematic diagram of message parameter analysis of a GNSS service performance monitoring method based on the Zhiyun Security Network domain according to an embodiment of the present invention.

[0041] S4.6.2: Solution Method According to the actual effective effect of navigation message data on the receiver terminal, in compliance with the general data quality standard and the spatial data quality standard model, the message structure and data quality statistical analysis are described as a quality tree model. The quality tree model is constructed from four aspects: message integrity, message consistency, message correctness and message timeliness to describe the quality of navigation message data. Figure 8 It is a navigation message data quality structure diagram of a GNSS service performance monitoring method based on Zhiyunan network domain according to an embodiment of the present invention;

[0042] (a) Message integrity: The received navigation message data is complete and without omissions; the message integrity indicators include ephemeris integrity, frame integrity, almanac integrity, and superframe integrity; among them, the ephemeris integrity characteristic indicators are the number of ephemeris received and the number of ephemeris omissions, and the characteristic equation is: Number of missed ephemeris = theoretical number of ephemeris - number of received ephemeris The frame integrity characteristic indicators are the number of frame recognition and the number of frame omissions, and the characteristic equation is: Frame omission number = theoretical frame number - frame recognition number The almanac integrity characteristic indicators are the number of almanac receptions and the number of almanac omissions, and the characteristic equation is: Number of missed almanacs = number of theoretical almanacs - number of received almanacs The superframe integrity characteristic indicators are the superframe recognition number and superframe recognition rate, and the characteristic equation is: Superframe recognition rate = number of superframe recognition / theoretical number of superframes (b) Message consistency: the consistency of the same type of message parameters obtained by solution at the same epoch; the message consistency indicators include ephemeris data consistency, almanac data consistency, ionosphere data consistency and UTC data consistency; among them, the ephemeris data consistency characteristic indicators are the number of ephemeris data and whether the ephemeris is consistent; the almanac data consistency characteristic indicators are the number of almanac data and whether the almanacs are consistent; the ionosphere data consistency characteristic indicators are the number of ionosphere data and whether the ionosphere is consistent; the UTC data consistency characteristic indicators are the number of UTC data and whether the UTC is consistent; the above message consistency indicators are statistically analyzed, if the solution fields of the two sets of data are the same, they are counted as one data, otherwise they are counted as two data.

[0043] (c) Message correctness: The navigation message data parameters are solved and the physical quantities are correct, satisfying the physical requirements within a certain period of time. The message correctness indicators include ephemeris data correctness, almanac data correctness and UTC data correctness. Among them, the ephemeris data correctness characteristic indicators are the total number of correct ephemeris data and the total number of incorrect ephemeris data; the almanac data correctness characteristic indicators are the total number of correct almanac data and the total number of incorrect almanac data; the UTC data correctness characteristic indicators are the total number of correct UTC data and the total number of incorrect UTC data.

[0044] (d) Message timeliness: The navigation message data parameters are calculated to meet the validity requirements within a certain period of time. The message timeliness indicators include message timeliness, message validity, ephemeris validity, and almanac validity. Among them, the message timeliness characteristic indicators are the number of message recognitions and the message recognition rate. The characteristic equation is: Message recognition rate = number of messages recognized / theoretical number of messages The characteristic indicators of message validity are message checksum and message validity rate, and the characteristic equation is: Message efficiency = message check number / message recognition number The characteristic indicator of ephemeris validity is the ephemeris timeout number, and the ephemeris data is valid for 2 hours before and after the current time; The characteristic indicator of the almanac validity is the almanac timeout number, and the almanac data is valid for 6 days before and after the current time.

[0045] S4.6.3: Analytical process 1) Statistical analysis of telegram parameters at ground feature reception performance monitoring points afterwards; 2) Analyze and evaluate the structure of the message and the quality of the data, and comprehensively display abnormal parameters based on the statistical calculation results of the message.

[0046] S4.7: PVT solution analysis under different parameter configurations S4.7.1: Principle analysis Solve the PVT parameters of the ground object receiving performance monitoring point. The configurable parameters in the solution process include positioning mode, ionosphere model, troposphere model, etc.

[0047] S4.7.2: Solution Method The receiver terminal adopts a passive one-way ranging solution mode, and the solution parameters include the three-dimensional spatial position, movement speed and time of the terminal; the solution steps are to determine the coordinate position, running speed and time of the observation satellite, as well as the pseudo-range observation information between the observation satellite and the receiver terminal, and solve the three-dimensional spatial position, movement speed and time of the receiver terminal based on this.

[0048] The configurable parameters include: Positioning mode: single point positioning mode, differential positioning mode; Ionospheric models: Bent, IRI, NeQuick, Klobuchar, dual-frequency ionospheric elimination combination; Tropospheric models: Hopfield, Saastamoinen; S4.7.3: Analytical process 1) Input the navigation message data parameters of the receiver terminal; 2) PVT solution parameter configuration, configurable parameters include: positioning mode, ionosphere model, troposphere model, etc.; 3) Output comprehensive statistical results under different parameter configurations.

[0049] Example 2 This embodiment discloses a GNSS service performance monitoring system based on the Zhiyun Security Network domain, including: The data acquisition module is configured to acquire the original GNSS observation data solved by the receiver terminal and the real position information of the ground object reception performance monitoring point; The positioning module is configured to obtain a unique solution of the geocentric coordinate position of the receiver terminal as a positioning solution result by using an absolute single-point positioning solution method based on the acquired GNSS original observation data and the real position information of the ground object reception performance monitoring point; and obtain a positioning accuracy deviation result by comparing the real position information of the ground object reception performance monitoring point with the positioning solution result; The timing module is configured to compare the second signal measurement value output by the receiver terminal with the time information clock error by using the adjustment method to solve the clock error value and obtain the timing performance monitoring result; The speed measurement module is configured to use the Doppler frequency shift observation output by the receiver terminal to perform speed measurement and calculation to obtain the observed satellite position and the observed satellite running speed; use the least square method to calculate the moving speed of the receiver terminal carrier to obtain the speed measurement accuracy result; The visible satellite module is configured to count the number of visible satellites at a number of cut-off altitude angles according to the satellite navigation system category, and obtain a monitoring result of the number of visible satellites; The DOP module is configured to respectively count the total epoch numbers PDOP, HDOP, and VDOP according to a single GNSS system or multiple GNSS systems to obtain a DOP value monitoring result; The telegram analysis module is configured to perform statistical analysis and evaluation on the structure and data quality of the telegram, and obtain the telegram parameter analysis results based on the statistics of the telegram calculation results.

[0050] As a further embodiment, A method for constructing a GNSS service performance monitoring system based on Zhiyun Security Network Domain, comprising the following steps: Step S1, monitoring data collection: Select the ground feature reception performance monitoring point to monitor the GNSS service performance, which is specifically composed of a space layer and a data collection layer; the space layer refers to GNSS satellites, mainly including GPS, GLONASS, Galileo, Beidou and other satellite navigation systems; the data collection layer outputs a wide range of data types, including GNSS original observation data and time interval counting data, which are mainly obtained by receiver terminals and time interval counter devices; Step S2, data receiving management: pre-process the output data according to the protocol, divide the data transmission chain format according to the data type and the GNSS signal system, and package and encrypt the data and transmit it to the cloud service platform; Step S3, data encryption communication transmission is transmitted to the cloud service platform through a secure communication network, mainly including the edge, encryption, and transparent gateways of the data receiving management system terminal, completing the data encoding from the terminal in accordance with various protocols such as quantum cryptography protocol, public protocol, and private protocol, and completing the data security and reliable transmission to the gateway cluster of the cloud service platform end for data analysis through blockchain authentication and quantum encryption communication technology; the gateway parses the data in accordance with the protocol and extracts the corresponding standard carrier data; after the data extraction is completed, the cloud service platform and server are integrated to analyze and process the received data, and the analysis and evaluation results are comprehensively displayed; Step S4: The cloud service platform analyzes and processes the received data, and then displays the analysis and evaluation results in a comprehensive manner. The display content specifically includes basic navigation service performance evaluation analysis, abnormal analysis result display, device status display, etc.

[0051] Example 3 A computer-readable storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing a GNSS service performance monitoring method based on a Zhiyunan network domain as described in Example 1 or 2.

[0052] Example 4 A terminal device includes a processor and a computer-readable storage medium, the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executing a GNSS service performance monitoring method based on the Zhiyunan network domain described in Example 1 or 2.

[0053] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0054] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, and the combination of the processes and / or boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a device, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0055] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0056] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A GNSS service performance monitoring method based on Zhiyun Security Network Domain, characterized in that: include: Obtain the original GNSS observation data solved by the receiver terminal, including position information, second signal measurement value, Doppler frequency shift observation value and DOP value; According to the acquired position information, the positioning solution result is obtained by using the absolute single-point positioning solution method, and the positioning accuracy result is obtained by comparing the position information with the positioning solution result; The obtained second signal measurement value is compared with the standard time by the adjustment method to solve the clock error value and obtain the timing accuracy result; The Doppler frequency shift observation is used to perform velocity measurement and calculation to obtain the running speed of the observed satellite; the least square method is used to calculate the motion speed of the receiver terminal carrier, and the speed measurement accuracy result is obtained by comparing the motion speed of the receiver terminal carrier with the running speed of the observed satellite; Count the number of visible satellites at several cut-off altitude angles according to the type of satellite navigation system, and obtain the number of visible satellites; According to the obtained DOP value, the total epoch number PDOP, HDOP, and VDOP are counted for a single GNSS system or multiple GNSS systems to obtain the DOP result; According to the statistical analysis and evaluation of the message structure and data quality, the message parameter analysis results are obtained based on the statistics of the message calculation results.

2. A GNSS service performance monitoring method based on Zhiyunan network domain as claimed in claim 1, characterized in that: The positioning solution result is obtained by the absolute single-point positioning solution method, including constructing an absolute single-point positioning solution equation group through the positioning observation equation, and obtaining a unique solution for the geocentric coordinate position of the receiver terminal by solving the absolute single-point positioning solution equation group as the positioning solution result. The absolute single-point positioning solution equation group is: ; in, is the least squares iterative observation error of the observed satellite, for , for , for , is the correction amount of the least squares iteration, is the speed of light; The positioning accuracy result is obtained by comparing the real position information with the positioning solution result, including calculating the difference between the real position information and the positioning solution result as the positioning accuracy deviation in a unified coordinate system, including horizontal positioning accuracy deviation and elevation positioning accuracy deviation respectively.

3. A GNSS service performance monitoring method based on Zhiyunan network domain as claimed in claim 1, characterized in that: The method of comparing the obtained second signal measurement value with the standard time by the adjustment method to solve the clock error value and obtain the timing accuracy result includes obtaining the observation satellite clock error value and the receiver terminal clock error value by the timing observation equation. The timing observation equation is: ; in, is the pseudorange observation, represents the three-dimensional spatial position of the receiver terminal, c is the speed of light, , are respectively the observation satellite clock error and the receiver terminal clock error, , and They are the influencing factors of ionospheric delay error, tropospheric delay error and multipath effect, is the observation noise, is the three-dimensional spatial position of the i-th observation satellite, which is obtained by solving the navigation message data information. The four unknown variables to be solved are the three-dimensional spatial position of the receiver terminal and the receiver terminal clock difference ; From the principle of solving the set of equations, it can be seen that the four unknown variables require four or more observation satellites to solve the three-dimensional spatial position and clock error of the receiver terminal.

4. The GNSS service performance monitoring method based on the Zhiyun Security Network domain as claimed in claim 1, characterized in that: The Doppler frequency shift observation is used to perform velocity measurement and calculation to obtain the observed satellite running speed of the observed satellite. The velocity measurement observation equation is: ; in, is the carrier frequency wavelength, is the Doppler frequency shift observed by the i-th observation satellite, is the pseudorange observation rate of change, is the speed of light, , are the receiver terminal clock error change rate and the i-th observed satellite clock error change rate respectively, , are the ionosphere and troposphere delay change rates, is the observation noise; The pseudorange observation rate of change is: ; in, For the The speed of the observation satellite, is the moving speed of the receiver terminal carrier, is the direction cosine between the receiver terminal carrier and the observation satellite, is the total noise term.

5. The GNSS service performance monitoring method based on Zhiyunan network domain as claimed in claim 1, characterized in that: The total epoch numbers PDOP, HDOP, and VDOP are counted respectively according to a single GNSS system or multiple GNSS systems, and the solution equations of PDOP, HDOP, and VDOP are: Let the matrix Q, ； but: ; ; ; in, , , is the corresponding value of matrix Q.

6. A GNSS service performance monitoring method based on Zhiyunan network domain as claimed in claim 1, characterized in that: The telegram structure, data quality statistical analysis and evaluation are performed based on the statistics of telegram calculation results to obtain the telegram parameter analysis results, including building a quality tree model from the aspects of telegram integrity, telegram consistency, telegram correctness and telegram timeliness to describe the quality of telegram parameters.

7. A GNSS service performance monitoring method based on Zhiyunan network domain as claimed in claim 1, characterized in that: The method also includes PVT solution analysis under different parameter configurations, that is, based on the acquired data, the three-dimensional spatial position, speed and time of the receiver terminal in the coordinate system under different parameter configurations are solved.

8. A GNSS service performance monitoring system based on Zhiyun Security Network, characterized in that: include: The data acquisition module is configured to acquire the GNSS original observation data solved by the receiver terminal, including position information, second signal measurement value, Doppler frequency shift observation value and DOP value; The positioning module is configured to obtain a positioning solution result by an absolute single-point positioning solution method according to the acquired position information, and obtain a positioning accuracy result by comparing the position information with the positioning solution result; The timing module is configured to compare the acquired second signal measurement value with the standard time through the adjustment method to solve the clock error value and obtain the timing accuracy result; The speed measurement module is configured to use the Doppler frequency shift observation to perform speed measurement and calculation to obtain the running speed of the observation satellite; use the least square method to calculate the movement speed of the receiver terminal carrier, and obtain the speed measurement accuracy result by comparing the movement speed of the receiver terminal carrier with the running speed of the observation satellite; The visible satellite module is configured to count the number of visible satellites at a number of cut-off altitude angles according to the satellite navigation system category, and obtain a monitoring result of the number of visible satellites; The DOP module is configured to respectively count the total epoch numbers PDOP, HDOP, and VDOP according to a single GNSS system or multiple GNSS systems to obtain a DOP value monitoring result; The telegram analysis module is configured to perform statistical analysis and evaluation on the structure and data quality of the telegram, and obtain the telegram parameter analysis results based on the statistics of the telegram calculation results.

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