GNSS position information service monitoring method and system based on configurable parameters

Abstract

The invention relates to a GNSS position information service monitoring method and system based on configurable parameters, and relates to the technical field of navigation positioning, and the method comprises the steps: obtaining the original collection data of a received satellite navigation signal output by a monitoring data collection terminal and the real position information of a ground object receiving performance monitoring point; capturing, tracking and positioning the acquired data to obtain a final positioning calculation result, a visible satellite number monitoring result and a DOP value monitoring result; obtaining a positioning precision deviation; the system carries out services on a comprehensive application terminal based on a GNSS satellite navigation positioning system, provides intelligent cloud service, constructs and perfects a monitoring system, and provides remote access service for a mobile client. Under an applicable monitoring scene, the use performance of mobile user side equipment of Beidou and other GNSS satellite navigation and positioning systems is monitored, stable and reliable guarantee is provided for position information service of the mobile user side equipment, and meanwhile, the stable operation state of the satellite navigation and positioning system is monitored.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a GNSS location information service monitoring method and system based on configurable parameters. Background Art

[0002] Satellite navigation and positioning is the basic space-time information network. The GNSS satellite navigation and positioning system is used to obtain accurate location information services (longitude, latitude, and altitude) for mobile users. Due to various abnormal operating conditions of satellites in orbit, accurate location information services may not be provided normally. It is necessary to continuously monitor the accurate location information services for mobile users around the clock and in all weather conditions for a long time. Continuously observe the accurate location information status of mobile users and adopt corresponding technical solutions to ensure the performance of mobile user equipment. Based on this, it is urgent to build a GNSS location information service monitoring system with strong pertinence, high reliability, all-day and all-weather. The GNSS location information service monitoring system with configurable parameter analysis monitors the performance of mobile user terminal equipment of Beidou and other GNSS satellite navigation and positioning systems. On this basis, it provides stable and reliable time and frequency information service guarantees for the location information service of mobile user terminal equipment, and also provides support for the stable operation monitoring of satellite navigation and positioning systems; based on the secure network domain encrypted data transmission and communication technology means, the integrated cloud service platform is used to build and improve the monitoring system, and at the same time provide mobile clients with remote access services. GNSS, Global Navigation Satellite System, mainly includes: GPS of the United States, GLONASS of Russia, Galileo of the European Union, and Beidou satellite navigation system of China.

[0003] Therefore, there is an urgent need for a GNSS location information service monitoring method based on configurable parameter analysis to realize the integration of GNSS location information service monitoring with security network and cloud services to form a closed system. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a GNSS location information service monitoring method and system based on configurable parameters to solve the problems raised in the above background technology.

[0005] The technical solution of the present invention is: A GNSS location information service monitoring method based on configurable parameters, including: Obtaining the original acquisition data of satellite navigation signals; Through the configurable capture processing process parameter settings, the acquired raw data is captured and processed to obtain a rough code phase value and a carrier frequency value; According to the obtained rough code phase value and carrier frequency value, the tracking process is performed on the acquired raw data through the configurable tracking process parameter setting to obtain the navigation message data of the instant I branch component demodulation; According to the acquired navigation message data, the absolute single-point positioning solution method selected by configurable parameters is used to obtain the unique solution of the geocentric coordinate position of the ground object reception performance monitoring point as the positioning solution result; According to the obtained positioning solution result, by comparing it with the real position information, the positioning accuracy deviation result is obtained; Among them, the absolute single-point positioning solution method with configurable parameter selection includes a least squares absolute single-point positioning solution method and an extended Kalman filter absolute single-point positioning solution method.

[0006] Furthermore, the acquisition processing is performed on the acquired raw data, specifically including obtaining the coarse code phase value and carrier frequency value of the received satellite navigation signal through configurable capture search bandwidth, capture detection threshold, capture correlation integration time and capture algorithm mode selection settings.

[0007] Furthermore, the tracking processing is performed on the acquired raw data, specifically including acquiring the navigation message data of the instant I branch component demodulated by the received satellite navigation signal through configurable carrier loop noise bandwidth, loop damping factor, code loop noise bandwidth, loop damping factor, correlation interval, carrier loop phase detector category selection, code loop phase detector category selection and tracking algorithm mode selection settings.

[0008] Furthermore, the positioning solution result is compared with the actual position information to obtain a positioning accuracy deviation result, including calculating the difference between the positioning solution result and the actual position information, which is used as the positioning accuracy deviation result, specifically including horizontal positioning accuracy and elevation positioning accuracy.

[0009] Furthermore, the extended Kalman filter absolute single-point positioning solution method includes defining the state vector of the ground object reception performance monitoring point, and obtaining the optimal estimate of the state vector at the current moment from the optimal estimate of the state vector at the previous moment and the observed value at the current moment through extended Kalman filter recursion to obtain the state matrix.

[0010] Further, the least squares absolute point positioning solution method includes constructing a least squares absolute point positioning solution equation group, and obtaining an iterative unique solution of the geocentric coordinate position of the receiving performance monitoring point by iterating the state matrix. The least squares absolute 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.

[0011] Furthermore, it also includes counting the number of visible satellites at a number of cut-off altitude angles according to the obtained positioning solution results and the types of satellite navigation systems to obtain a monitoring result of the number of visible satellites; Preferably, According to the obtained positioning solution results, the total epoch numbers PDOP, HDOP, and VDOP are counted respectively according to a single GNSS system or multiple GNSS systems to obtain the DOP value monitoring results.

[0012] GNSS location information service monitoring system based on configurable parameters, including: The monitoring data acquisition module is configured to obtain the original acquisition data of the satellite navigation signal; The capture module is configured to, according to the acquired data, perform capture processing on the acquired data through configurable capture processing process parameter settings to obtain a rough code phase value and a carrier frequency value; The tracking module is configured to perform tracking processing on the acquired data according to the obtained coarse code phase value and carrier frequency value through configurable tracking processing process parameter settings to obtain the navigation message data of the instant I branch component demodulation; The positioning module is configured to obtain, based on the acquired demodulated navigation message data, a unique solution of the geocentric coordinate position of the ground feature reception performance monitoring point by an absolute single-point positioning solution method selected by configurable parameters as a positioning solution result; and obtain a positioning accuracy deviation result by comparing the obtained positioning solution result with the real position information; Among them, the absolute single-point positioning solution method with configurable parameter selection includes a least squares absolute single-point positioning solution method and an extended Kalman filter absolute single-point positioning solution method.

[0013] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the GNSS location information service monitoring method based on configurable parameters.

[0014] A terminal device includes a processor and a computer-readable storage medium, wherein the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, wherein the instructions are suitable for being loaded by the processor and executing the GNSS location information service monitoring method based on configurable parameters.

[0015] The beneficial effects of the present invention are: Compared with the prior art, the GNSS position information service monitoring method and system technical solution based on configurable parameters provided by the present invention are universal and usable for different ground object reception performance monitoring points; based on the capture, tracking, and positioning processing process of configurable parameter analysis, the final positioning solution results of the monitoring points are obtained, and compared with the actual position information of the ground object reception performance monitoring points; the characteristics of secure network domain encrypted data transmission communication technology are utilized to provide services for comprehensive application terminals based on GNSS satellite navigation and positioning systems; the characteristics of cloud service platforms are utilized to provide intelligent cloud services, build and improve monitoring systems, and provide remote access services for mobile clients; in applicable monitoring scenarios, the performance of mobile user terminal devices of Beidou and other GNSS satellite navigation and positioning systems is monitored to provide stable and reliable protection for the location information services of mobile user terminal devices, while monitoring the stable operation status of satellite navigation and positioning systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in the specification, which constitute a part of the present 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 is a schematic diagram of a GNSS location information service monitoring principle based on configurable parameter analysis according to an embodiment of the present invention; Figure 2 is a flow chart of GNSS location information service monitoring based on configurable parameter analysis according to an embodiment of the present invention; Figure 3 is a capture processing principle diagram of a GNSS location information service monitoring method based on configurable parameter analysis according to an embodiment of the present invention; Figure 4 is a tracking processing principle diagram of a GNSS location information service monitoring method based on configurable parameter analysis according to an embodiment of the present invention; Figure 5 is a positioning processing principle diagram of a GNSS location information service monitoring method based on configurable parameter analysis according to an embodiment of the present invention; Figure 6 is a schematic diagram of monitoring the number of visible satellites in a GNSS location information service monitoring method based on configurable parameter analysis according to an embodiment of the present invention; Figure 7 It is a principle diagram of DOP value monitoring of a GNSS location information service monitoring method based on configurable parameter analysis 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 and Figure 2 As shown, the GNSS location information service monitoring method based on configurable parameters includes: S1: Utilize the serial port of the configurable parameter analysis system to receive the original data of the received satellite navigation signal output by the monitoring data collection terminal system. Specifically, the serial port of the configurable parameter analysis system receives the original data of the received satellite navigation signal output by the monitoring data collection terminal system, and the data types are divided according to the GNSS signal system, which specifically include:

[0020] 1) Beidou: B1I, B1C-data, B1C-pilot, B2a-data, B2a-pilot, B2b-I, B3I; 2) GPS: L1C / A, L1C-data, L1C-pilot, L2C-data, L2C-pilot, L5I, L5Q; 3)GLONASS: G1C / A, G2C / A, G3OC; 4) Galileo: E1OS, E5a-data, E5a-pilot, E5b-data, E5b-pilot; Capture, track and locate all the above-mentioned received satellite navigation signal data to obtain the final positioning solution result, visible satellite number monitoring result and DOP value monitoring result; S2.1: Capture Processing S2.1.1: Principle analysis like Figure 3 As shown, capture processing refers to the collected data obtained by the monitoring data collection terminal. Through the configurable capture processing process parameter settings, capture processing is performed on the collected data to capture the received satellite navigation signal to obtain the coarse code phase value and carrier frequency value of the received satellite navigation signal.

[0021] Configurable parameters for selecting capture processing methods, including: 1) Capture search bandwidth, capture detection threshold, and capture correlation integration time; 2) Capture algorithm mode selection: 1. Accurate phase relationship capture to remove the impact of message flip; 2. Improved cyclic correlation capture to remove the impact of message flip; 3. Delay addition method; 4. Circular correlation method to remove the impact of message flip; 5. Circular correlation method; S2.1.2: Solution method The purpose of the capture process is to obtain the rough code phase value and carrier frequency value of the received satellite navigation signal. The code phase value and carrier frequency value obtained by the capture process are directly related to the tracking stability of the tracking process, thus affecting the tracking process. The capture process mainly consists of two parts, including carrier frequency value capture and code start phase capture.

[0022] 1) Carrier frequency capture Due to the relative motion between the observed satellite and the receiving performance monitoring point, the Doppler frequency shift exists in the received satellite navigation signal acquisition data, so that the received satellite navigation signal frequency is different from the nominal RF center frequency. After being processed by the front-end of the RF receiving channel of the monitoring data acquisition terminal, the RF signal corresponds to the down-converted intermediate frequency signal. Due to the influence of the Doppler effect, the intermediate frequency signal has a Doppler frequency shift. For high-speed moving receiving performance monitoring points, the Doppler frequency shift is within 10kHz; for static receiving performance monitoring points, the Doppler frequency shift is within 5kHz.

[0023] The range of Doppler frequency shift variation is directly related to the capture search bandwidth of the capture process. According to the capture search bandwidth, the frequency wells can be divided in turn according to the capture search step to generate a local carrier, which is used to remove the carrier frequency of the received satellite navigation signal to prepare for the code start phase capture process.

[0024] 2) Code start phase capture The code phase determines the starting position of the pseudo code in the received satellite navigation signal acquisition data. The input received satellite navigation signal acquisition data of the capture correlation integration time is analyzed, which contains the complete pseudo code of the captured satellite navigation signal, so the starting position of the pseudo code can be determined. Different capture algorithm modes are all based on the relevant characteristics of the pseudo code. The received satellite navigation signal acquisition data is a superposition of satellite navigation signals transmitted by all visible observation satellites:

[0025] ; The input received satellite navigation signal acquisition data is correlated with the corresponding observation satellite pseudo code generated locally. The cross-correlation characteristics of different pseudo codes can be used to exclude satellite navigation signals transmitted by other observation satellites. When the code phase difference exceeds 1 code chip, the correlation operation result may be approximately zero. To further remove the pseudo code, the code phase is relatively moved to ensure that the local code phase is consistent with the input received satellite navigation signal code phase.

[0026] In the above two-dimensional search process, all frequency wells and code phase points contained in the input received satellite navigation signal acquisition data of the capture related integration time are searched. The search result exceeds the capture detection threshold, indicating that the capture result is good. At the same time, the coarse code phase value and carrier frequency value of the received satellite navigation signal can be determined.

[0027] S2.1.3: Analytical Process 1) The capture process can obtain the rough carrier frequency value and code phase value of the received satellite navigation signal acquisition data; 2) During the capture process, if the capture result exceeds the configurable capture threshold, it can be determined that the capture is successful; 3) The code phase value and carrier frequency value obtained during the capture process can be used to achieve continuous and stable tracking during the tracking process, which ensures a good capture effect; S2.2: Tracking Process S2.2.1: Principle analysis like Figure 4 As shown, tracking processing refers to the collection data obtained by the monitoring data collection terminal and the coarse code phase value and carrier frequency value obtained by the capture processing. Through the configurable tracking processing process parameter settings, tracking processing is performed on the collection data to stably and continuously track the received satellite navigation signal to obtain the navigation message data of the instant I branch component demodulated by the received satellite navigation signal.

[0028] Configurable parameters for selecting the tracking processing method, including: 1) Carrier loop noise bandwidth and loop damping factor parameter settings; 2) Code loop noise bandwidth, loop damping factor, and correlation interval parameter settings; 3) Carrier loop phase detector category selection, including: product phase detector, decision-oriented phase detector, two-quadrant inverse tangent phase detector, four-quadrant inverse tangent phase detector; 4) Selection of code loop phase detector types, including: normalized incoherent lead-minus-lag amplitude method, normalized incoherent lead-minus-lag power method, normalized quasi-coherent dot product power method, and normalized coherent dot product power method; 5) Tracking algorithm mode selection: EPL tracking, Bump-Jump, three-ring tracking, ASPeCT, BPSK-like; S2.2.2: Solution method The purpose of tracking is to improve the code phase value and carrier frequency value obtained by the capture process, maintain the tracking state, and remove the carrier and pseudo code to obtain the navigation message data. The accuracy of the code phase value obtained by tracking is directly related to the accuracy of the pseudorange observation, thus affecting the positioning accuracy. Tracking is completed by two loops, including the code tracking loop and the carrier frequency tracking loop.

[0029] 1) Code tracking loop Taking the EPL tracking algorithm mode as an example, the code tracking loop is usually implemented by a delay locked loop, which generates three sets of pseudo codes with interval distances of related interval code bits, namely, advance, immediate and delayed, locally, and multiplied with the input satellite navigation signal acquisition data to generate three product accumulation results, which are transmitted to the code loop phase detector for calculation. The calculation result is used as a control signal and fed back to the local pseudo code generator to control the generation of local pseudo code, thereby realizing the code tracking loop.

[0030] 2) Carrier frequency tracking loop Part of the tracking process is the tracking of the carrier frequency, which is usually completed by a phase-locked loop, a frequency-locked loop, or a combination of a phase-locked loop and a frequency-locked loop. The local copy generates two carriers of a certain frequency or phase, the original phase and the quarter-phase, which are multiplied with the input received satellite navigation signal acquisition data to obtain two products, which are transmitted to the carrier loop phase detector for calculation. The calculation result is used as a control signal and fed back to the local carrier generator to control the frequency and phase of the local carrier, thereby realizing the carrier frequency tracking loop. The tracking loop works continuously and reliably to ensure that the local code phase, carrier frequency and phase are consistent with the input received satellite navigation signal acquisition data. If a loss of lock occurs, the capture process of the satellite navigation signal needs to be restarted.

[0031] S2.2.3: Analytical Process 1) The tracking process can continuously track the carrier frequency value and code phase value of the received satellite navigation signal obtained during the capture process, and can also demodulate the navigation message data; 2) The code loop and carrier loop work together in the tracking process to effectively demodulate the navigation message data information to the real-time I branch. The level of the demodulated navigation message data changes significantly, and the decoding operation can be performed; 3) The output of the relevant results in the tracking process is stable, without loss of lock; the output results of the code loop phase detector and loop filter are stable; the output results of the carrier loop phase detector and loop filter are stable, the demodulated I and Q branch components are clearly distinguished, and the tracking effect is good.

[0032] S2.3: Positioning Processing S2.3.1: Principle analysis like Figure 5 As shown, positioning processing refers to solving the demodulated navigation message data obtained by tracking processing according to the solution steps specified in the GNSS satellite navigation and positioning system interface control file, solving the observed satellite position and pseudo-range observations, and obtaining the final positioning solution result according to the absolute single-point positioning solution method selected by configurable parameters.

[0033] The absolute single-point positioning solution method with configurable parameters includes: least squares solution method and extended Kalman filter solution method.

[0034] Positioning accuracy refers to the difference between the location information provided to the user's mobile terminal by the GNSS satellite navigation and positioning system service and the actual location information (specifically horizontal positioning accuracy and elevation positioning accuracy). In the GNSS position information service monitoring system, it is the comparison between the location information calculated by the receiving performance monitoring point and the actual location information of the monitoring point.

[0035] S2.3.2: Solution method (I) The least squares absolute single point positioning solution method is as follows: Based on the demodulated navigation message data, the pseudo-range observation quantity, observation satellite position and other information are calculated; the unknown values ​​to be solved include: the three-dimensional spatial position (longitude, latitude, altitude) of the ground object receiving performance monitoring point, the terminal clock error of the receiving performance monitoring point, a total of 4 unknowns to be solved; if the 4 unknowns to be solved are to be solved, 4 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 observation equation group.

[0036] Observation equation: ; in, is the pseudorange observation (correcting the ionosphere and troposphere delay errors), is the actual distance between the receiving performance monitoring point and the observation satellite, is the terminal clock difference of the receiving performance monitoring point, For the The instantaneous geocentric coordinate position of the observation satellite can be solved by the navigation message data. It is the geocentric coordinate position of the receiving performance monitoring point.

[0037] The least squares method for absolute single point positioning solves the equations: ; Express the above formula in matrix form: ; Observation residual matrix: ; in, is the observed residual at each iteration.

[0038] State Matrix: ; The matrix of unknown numbers to be found is: ; Solve the above observation equations to obtain the iterative unique solution of the geocentric coordinate position of the receiving performance monitoring point: ; After iteration until convergence, the unique optimal positioning estimation solution for the receiving performance monitoring point is obtained as , the iteration equation is: ; in, is the number of iterations.

[0039] (II) The extended Kalman filter absolute single point positioning solution method is as follows: The observation equation of the discrete system model is: ; ; The extended Kalman filter recursive observation equation for discrete systems is: Define the state vector It is the state vector of the ground object receiving performance monitoring point.

[0040] 1) Prediction One-step state prediction equation: ; One-step state prediction mean square error: ; 2) Update Filter gain: ; State estimation equation: ; State estimation mean square error: ; in, is the state transfer matrix before and after the moment, is the input transformation matrix, is the system input vector, is the state noise variance matrix, is the observation matrix covariance matrix, representing the relationship matrix between the observation quantity and the system state, is the observation value vector at the current moment, which is composed of pseudo-range observation values. is the observation noise variance matrix.

[0041] Take the above observation equation , .

[0042] The observation equation of the constant coefficient state transfer matrix is: ; Observation process noise vector The covariance matrix of is: , The theoretical value is 0.

[0043] By combining pseudo-range observations, observed satellite positions and other information, position information can be calculated and estimated.

[0044] With the recursion of Kalman filtering, the optimal estimate of the state vector at the previous moment and the observed value at the current moment are used to obtain the optimal estimate of the state vector at the current moment, that is, to obtain the state vector of the ground object reception performance monitoring point .

[0045] S2.3.3: Analytical Process 1) The positioning processing process in the GNSS position information service monitoring method with configurable parameter analysis uses the demodulated navigation message data obtained in the tracking processing process, and obtains the unique solution of the geocentric coordinate position of the ground object reception performance monitoring point through the configurable positioning parameter setting and the absolute single-point positioning solution method. The specific solution method is given in detail in the above article; 2) Compare the actual position information of the receiving performance monitoring point with the final positioning solution 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.

[0046] S2.4: Visible satellite number monitoring results S2.4.1: Principle analysis The number of visible satellites refers to the number of observation satellites that can be received at the location of the ground object reception performance monitoring point; it is related to the cut-off altitude angle of the received satellite navigation signal. When the cut-off altitude angle is reduced, the number of visible satellites increases accordingly.

[0047] S2.4.2: Solution method like Figure 6 As shown in the figure, when the receiving scene is affected by factors such as shadows, occlusions, and fading, a single GNSS satellite navigation and positioning system may have insufficient visible satellites, resulting in the inability to participate in positioning solution or low positioning solution accuracy; the number of visible satellites is directly related to the cut-off altitude angle. When the cut-off altitude angle is reduced, the number of visible satellites increases accordingly.

[0048] S2.4.3: Analytical Process 1) The receiving performance monitoring point positioning process 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.

[0049] S2.5: DOP value monitoring results S2.5.1: 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); like Figure 7 As shown in the figure, the DOP value reflects the proportional coefficient between the pseudorange error caused by the geometric spatial layout of the observation satellite and the ground object receiving performance monitoring point and the position information error of the performance monitoring point. It is an important indicator for evaluating the accuracy of position information services, and explains the contribution of positioning processing observations to position information solution; the DOP value decreases with the increase of the number of visible satellites.

[0050] The DOP value monitoring results refer to the PDOP, HDOP, and VDOP values, specifically: DOP = PDOP+HDOP+VDOP; S2.5.2: Solution method The three-dimensional spatial position of the receiving performance monitoring point is , the observation satellite position is , assuming the matrix H is: ; in, , the first three columns of the matrix H are the direction cosine vectors between the receiving performance monitoring point and the observation satellite.

[0051] Satisfying the conditions for receiving satellite navigation signals broadcast by 4 observation satellites, the matrix Q is: ; PDOP, HDOP, VDOP value observation equation: ; ; ; S2.5.3: Analytical Process 1) Receive the DOP value information output by the performance monitoring point positioning process; 2) Calculate the total epoch PDOP, HDOP and VDOP values ​​by single GNSS system / multiple GNSS systems respectively; 3) Comprehensively display the statistical results of DOP values.

[0052] Example 2 The GNSS location information service monitoring system based on configurable parameters includes the following components: Monitoring data collection terminal system, configurable parameter analysis system, network encryption transmission system, cloud service platform, data storage and sharing system, mobile monitoring platform; The monitoring data acquisition terminal system selects a ground feature point as a receiving performance monitoring point, collects and receives the original acquisition data of the satellite navigation signal and the real position information of the ground feature receiving performance monitoring point, and prepares for forwarding to the configurable parameter analysis system; The serial port of the configurable parameter analysis system receives the original collected data of the received satellite navigation signal output by the monitoring data collection terminal system, and divides the data type according to the GNSS signal system, which specifically includes: 1) Beidou: B1I, B1C-data, B1C-pilot, B2a-data, B2a-pilot, B2b-I, B3I; 2) GPS: L1C / A, L1C-data, L1C-pilot, L2C-data, L2C-pilot, L5I, L5Q; 3)GLONASS: G1C / A, G2C / A, G3OC; 4) Galileo: E1OS, E5a-data, E5a-pilot, E5b-data, E5b-pilot; Capture, track and locate all the above-mentioned received satellite navigation signal data to obtain the final positioning solution result, visible satellite number monitoring result and DOP value monitoring result; The said safe network encryption transmission system is to build a high-precision grid, heterogeneous network, integrated communication, secure and reliable, massive and concurrent secure encryption transmission network; the secure encryption transmission network is to analyze the terminal data of the system through the edge, encryption, and transparent gateway with configurable parameters, so as to realize the data transmission from the terminal to the gateway cluster of the cloud service platform in accordance with the quantum cryptographic protocol, public protocol, and private protocol, through blockchain authentication, and quantum encryption communication, and transmit different data to the cloud service platform according to different transmission gateways such as the host communication gateway, grid gateway, integrity detection gateway, device gateway, and security (encryption and decryption) gateway to realize data persistence; secure encryption and blockchain authentication technology, relying on the Internet of Things network, standard specifications and communication gateway cluster transmission, provides secure and reliable and lightweight services (encryption and integrity); The cloud service platform integrates GNSS location information service monitoring, evaluation and analysis, and positioning accuracy deviation analysis, including: GNSS location information service monitoring and evaluation analysis: positioning solution service performance analysis, visible satellite number, DOP value spatial distribution analysis; positioning accuracy deviation analysis: comparative analysis of the deviation between the final positioning solution result and the actual position information of the ground object reception performance monitoring point; The cloud service platform monitors, evaluates and analyzes the above parameter information and displays the evaluation and analysis results in a comprehensive manner; The data storage and sharing system refers to the service monitoring system server equipped with a disk array, which stores data including the final positioning solution output by the configurable parameter analysis system, the visible satellite number monitoring results, and the real-time data and post-event data of the DOP value monitoring results; the service monitoring system intermediate business data, such as data processing and evaluation analysis results; the service monitoring system operation log, fault information and alarm log, etc.; archives and backs up data by category; and has data query, call, data form modification, output and playback functions; The mobile monitoring platform is a cloud service platform that publishes evaluation and analysis data results in web form on the cloud service platform network. The mobile monitoring platform (client) can directly access the platform network to realize display and query functions.

[0053] As a further embodiment, A method for constructing a GNSS location information service monitoring system based on configurable parameters is characterized by comprising the following steps: Step S1, the monitoring data collection terminal selects a ground feature reception performance monitoring point to monitor the GNSS position information service performance, which is specifically composed of a space layer and a data collection layer; the space layer refers to the satellite constellation of the GNSS satellite navigation system, mainly including GPS, GLONASS, Galileo, Beidou and other satellite navigation systems; the data collection layer outputs a wide range of data types, specifically including the original collection data of the received satellite navigation signal and the real position information of the ground feature reception performance monitoring point, which is mainly obtained by the data collector equipment and the static long-term continuous observation receiver terminal equipment; Step S2, the configurable parameter analysis serial port receives the above-mentioned output receiving satellite navigation signal raw acquisition data, divides it according to the data type according to the GNSS signal system, performs capture, tracking, and positioning processing on it, and packages the final positioning solution result, visible satellite number monitoring result, DOP value monitoring result and the real position information of the receiving performance monitoring point for encrypted communication and transmits it to the cloud service platform; Step S3, data encryption communication transmission is transmitted to the cloud service platform through a secure encrypted transmission communication network, mainly including the edge, encryption, and transparent gateways of the configurable parameter analysis system terminal, completing the data encoding from the terminal device in accordance with various protocols such as quantum cryptography protocols, public protocols, and private protocols, and completing the data security and reliable transmission to the gateway cluster of the cloud service platform for data analysis through blockchain authentication and quantum encryption communication technology; the gateway parses the data according to the protocol and extracts the corresponding standard carrier data; after the data extraction is completed, the cloud service platform and the server are integrated to analyze and process the received data, and the evaluation and analysis results are comprehensively displayed; Step S4: The cloud service platform analyzes and processes the received data, and then displays the evaluation and analysis results in a comprehensive manner, wherein the display content specifically includes GNSS location information service monitoring and evaluation analysis, positioning accuracy deviation analysis, device status display, etc.; Step S5: The data storage and sharing system in the service monitoring system is equipped with a disk array, and the stored data specifically includes: Step S2 can configure the final positioning solution results, visible satellite number monitoring results, DOP value monitoring results output by the parameter analysis system; intermediate business data, such as data processing and evaluation analysis results; system operation logs, fault information and alarm logs, etc.; archiving and backup data storage by category; data query, call, data form modification, output and playback; Step S6: The mobile monitoring platform (client) accesses the cloud service platform network in the form of a web to realize the function of displaying and querying the platform processing and analyzing data results.

[0054] Example 3 GNSS location information service monitoring system based on configurable parameters, including: The monitoring data acquisition module is configured to obtain the original acquisition data of the received satellite navigation signal and the real position information of the ground object reception performance monitoring point; The capture module is configured to, according to the acquired data, perform capture processing on the acquired data through configurable capture processing process parameter settings to obtain a rough code phase value and a carrier frequency value of the received satellite navigation signal; The tracking module is configured to perform tracking processing on the acquired data according to the acquired data and the coarse code phase value and the carrier frequency value obtained by the capture processing, and stably and continuously track the received satellite navigation signal through the configurable tracking processing process parameter setting, so as to obtain the navigation message data demodulated by the instantaneous I branch component of the received satellite navigation signal; The positioning module obtains the unique solution of the geocentric coordinate position of the ground object receiving performance monitoring point through the configurable positioning parameter settings and the absolute single-point positioning solution method based on the acquired demodulated navigation message data, as the positioning solution result; compares the actual position information of the performance monitoring point with the positioning solution result to obtain the positioning accuracy deviation; The visible satellite number module is configured to count the number of visible satellites at a number of cutoff altitude angles according to the positioning solution results and the types of satellite navigation systems to obtain the visible satellite number monitoring results; The DOP value module is configured to, based on the positioning solution results, respectively count the total epoch numbers PDOP, HDOP, and VDOP according to a single GNSS system or multiple GNSS systems to obtain the DOP value monitoring results.

[0055] Example 4 A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor of a terminal device and executing the GNSS location information service monitoring method based on configurable parameters provided in Embodiment 1 or 2.

[0056] Example 5 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 executed by a GNSS location information service monitoring method based on configurable parameter analysis provided in Example 1 or 2.

[0057] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can take 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 code. 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, as well as 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing 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.

[0059] 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.

[0060] 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 location information service monitoring method based on configurable parameters, characterized in that: include: Obtaining the original acquisition data of satellite navigation signals; Through the configurable capture processing process parameter settings, the acquired raw data is captured and processed to obtain a rough code phase value and a carrier frequency value; According to the obtained rough code phase value and carrier frequency value, the tracking process is performed on the acquired raw data through the configurable tracking process parameter setting to obtain the navigation message data of the instant I branch component demodulation; According to the acquired navigation message data, the absolute single-point positioning solution method selected by configurable parameters is used to obtain the unique solution of the geocentric coordinate position of the ground object reception performance monitoring point as the positioning solution result; According to the obtained positioning solution result, by comparing it with the real position information, the positioning accuracy deviation result is obtained; Among them, the absolute single-point positioning solution method with configurable parameter selection includes a least squares absolute single-point positioning solution method and an extended Kalman filter absolute single-point positioning solution method.

2. The GNSS location information service monitoring method based on configurable parameters according to claim 1, characterized in that: The capture processing is performed on the acquired raw data, specifically including acquiring the coarse code phase value and carrier frequency value of the received satellite navigation signal through configurable capture search bandwidth, capture detection threshold, capture correlation integration time and capture algorithm mode selection settings.

3. The GNSS location information service monitoring method based on configurable parameters according to claim 1, characterized in that: The tracking processing is performed on the acquired raw data, specifically including acquiring the demodulated navigation message data of the instantaneous I branch component of the received satellite navigation signal through configurable carrier loop noise bandwidth, loop damping factor, code loop noise bandwidth, loop damping factor, correlation interval, carrier loop phase detector category selection, code loop phase detector category selection and tracking algorithm mode selection settings.

4. The GNSS location information service monitoring method based on configurable parameters according to claim 1, characterized in that: The positioning accuracy deviation result is obtained by comparing the obtained positioning solution result with the actual position information, including calculating the difference between the positioning solution result and the actual position information, that is, as the positioning accuracy deviation result, specifically including horizontal positioning accuracy and elevation positioning accuracy.

5. The GNSS location information service monitoring method based on configurable parameters as claimed in claim 4, characterized in that: The extended Kalman filter absolute single-point positioning solution method includes defining a state vector of a ground object receiving performance monitoring point, and obtaining an optimal estimate of the state vector at the current moment from the optimal estimate of the state vector at the previous moment and the observed value at the current moment through extended Kalman filter recursion to obtain a state matrix.

6. The GNSS location information service monitoring method based on configurable parameters according to claim 5, characterized in that: The least squares absolute single point positioning solution method includes constructing a least squares absolute single point positioning solution equation group, and obtaining an iterative unique solution of the geocentric coordinate position of the receiving performance monitoring point by iterating the state matrix. The least squares 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.

7. The GNSS location information service monitoring method based on configurable parameters according to claim 6, characterized in that: It also includes counting the number of visible satellites at a number of cut-off altitude angles according to the obtained positioning solution results and the type of satellite navigation system to obtain the monitoring results of the number of visible satellites; According to the obtained positioning solution results, the total epoch numbers PDOP, HDOP, and VDOP are counted respectively according to a single GNSS system or multiple GNSS systems to obtain the DOP value monitoring results.

8. A GNSS location information service monitoring system based on configurable parameters, characterized in that: include: The monitoring data acquisition module is configured to obtain the original acquisition data of the satellite navigation signal; The capture module is configured to, according to the acquired data, perform capture processing on the acquired data through configurable capture processing process parameter settings to obtain a rough code phase value and a carrier frequency value; The tracking module is configured to perform tracking processing on the acquired data according to the obtained coarse code phase value and carrier frequency value through configurable tracking processing process parameter settings to obtain the navigation message data of the instant I branch component demodulation; The positioning module is configured to obtain, based on the acquired demodulated navigation message data, a unique solution of the geocentric coordinate position of the ground object receiving performance monitoring point by an absolute single-point positioning solution method selected by configurable parameters as a positioning solution result; and obtain a positioning accuracy deviation result by comparing the obtained positioning solution result with the real position information; Among them, the absolute single-point positioning solution method with configurable parameter selection includes a least squares absolute single-point positioning solution method and an extended Kalman filter absolute single-point positioning solution method.

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