GNSS / 5G fusion location information service performance monitoring method and system

Abstract

The invention relates to a GNSS / 5G fusion location information service performance monitoring method and system, and relates to the technical field of navigation positioning, and the method comprises the steps: obtaining ground object receiving performance monitoring point information outputted by a monitoring data collection terminal; capturing the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; executing tracking processing to obtain navigation message data and pseudo-range observed quantity demodulated by an instant I branch component of a received satellite navigation signal; obtaining a unique solution of a three-dimensional space coordinate position of the ground object receiving performance monitoring point as a positioning calculation result; obtaining a positioning precision deviation; obtaining a visible satellite number monitoring result; and obtaining a DOP value monitoring result. According to the method, the system abnormal condition is judged through comprehensive application, reliable time-frequency information service guarantee is provided for the terminal equipment, and the use performance of the terminal equipment is ensured.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a GNSS / 5G fusion location information service performance monitoring method and system. Background Art

[0002] The Global Navigation Satellite System (GNSS) is in the in-orbit operation stage and its operation status is relatively stable. Its advantages of all-day, all-weather and wide coverage make it widely used in various modern service industries such as trade logistics, cultural and tourism navigation, low-altitude rescue, precision agriculture, etc.; due to complex receiving scenarios such as urban canyons, indoor and outdoor transition areas, and indoor areas, a single GNSS application may result in a limited number of GNSS satellite navigation signals received, weak receiving power intensity, and susceptibility to factors such as non-line-of-sight signals and multipath effects. The accuracy of terminal positioning equipment is degraded, making it difficult to meet the positioning requirements in complex receiving scenarios. 5G will also help to meet the needs of cellular operators in the future, by enabling them to meet the needs of cellular operators and the demands of the GNSS / 5G industry.

[0003] Therefore, there is an urgent need for a performance monitoring method based on GNSS / 5G fused location information service to realize the integration of GNSS / 5G fused location information service monitoring with smart cloud and security network to form a closed system. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a method and system for monitoring the performance of a GNSS / 5G fused location information service to solve the problems raised in the above background technology.

[0005] The technical solution of the present invention is: A method for monitoring performance of a GNSS / 5G fusion location information service, comprising: Obtain the real location information of the ground object reception performance monitoring point, the real location information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; TOA refers to the time of arrival of 5G signals; DOA refers to the direction of arrival of 5G signals; Performing acquisition processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; According to the acquired data and the rough code phase value and carrier frequency obtained by the capture process, tracking processing is performed to obtain the navigation message data and pseudo-range observation value of the instantaneous I branch component demodulated by the received satellite navigation signal; Based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, 5G signal TOA, and 5G signal DOA, the least squares absolute single point positioning method is used to obtain the unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as the positioning solution result; According to the obtained positioning solution results, the positioning accuracy deviation is obtained by comparing the real position information of the ground object receiving performance monitoring point with the positioning solution results; According to the positioning solution results, the number of visible satellites at several cut-off altitude angles is counted according to the type of GNSS satellite navigation and positioning system to obtain the monitoring results of the number of visible satellites; According to the positioning solution results, the position precision factor of the total epoch number of GNSS / 5G fusion positioning is calculated to obtain the DOP value monitoring results.

[0006] Furthermore, the capture processing of the acquired data specifically includes performing capture processing on the acquired data according to the acquired data through the configured capture search bandwidth, capture detection threshold and capture related integration time to obtain a coarse code phase value and carrier frequency of the received satellite navigation signal.

[0007] Furthermore, the tracking processing is performed based on the acquired data and the rough code phase value and carrier frequency obtained by the capture processing, specifically including performing tracking processing on the acquired data through the configured carrier loop noise bandwidth, loop damping factor, code loop noise bandwidth, loop damping factor and correlation interval to obtain the navigation message data and pseudorange observation value of the instant I branch component demodulated by the received satellite navigation signal.

[0008] Furthermore, the least squares absolute single-point positioning solution method is used to obtain a unique solution for the three-dimensional spatial coordinate position of the ground object reception performance monitoring point, including using the 5G signal TOA observation equation and the 5G signal DOA observation equation to construct an observation residual equation group, and iterating the observation residuals of the observation residual equation group until convergence to obtain a unique optimal positioning estimation solution for the ground object reception performance monitoring point.

[0009] Furthermore, the 5G signal TDOA observation equation is: ; In the formula, TDOA refers to the time difference of arrival of 5G signals; and Respectively The observation values ​​of the first and second 5G base stations; For the The three-dimensional coordinates of 5G base stations; The coordinates of the monitoring points for receiving performance of the ground object; is the speed of light; and Respectively The system clock difference between the first and the second 5G base stations.

[0010] Furthermore, the 5G signal DOA observation equation includes a heading angle observation equation and a pitch angle observation equation, and the heading angle observation equation is: ; Preferably, the pitch angle observation equation is: .

[0011] Furthermore, the observation residual equation group is: ; In the formula, is the design matrix; The coordinates of the monitoring points for receiving performance of the ground object; The time difference of the ground object reception performance monitoring point; the ground object reception performance monitoring point is the observed residual at each iteration.

[0012] A GNSS / 5G fusion location information service performance monitoring system, comprising: The data acquisition module is configured to obtain the real position information of the ground feature reception performance monitoring point, the real position information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; The capture module is configured to perform capture processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; The tracking module is configured to perform tracking processing according to the acquired data and the coarse code phase value and carrier frequency obtained by the capture processing, and obtain the navigation message data and pseudo-range observation value demodulated by the instantaneous I branch component of the received satellite navigation signal; The positioning module is configured to obtain a unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as a positioning solution result by using a least squares absolute single point positioning solution method based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, the 5G signal TOA, and the 5G signal DOA; and obtain the positioning accuracy deviation by comparing the real position information of the ground object reception performance monitoring point with the positioning solution result according to the obtained positioning solution result; The visible satellite number module is configured to count the number of visible satellites at a certain cutoff altitude angle according to the positioning solution result and the type of GNSS satellite navigation and positioning system, and obtain the visible satellite number monitoring result; The DOP value module is configured to calculate the position precision factor of the total epoch number of GNSS / 5G fusion positioning according to the positioning solution result to obtain the DOP value monitoring result.

[0013] A computer-readable storage medium storing 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 method for monitoring the performance of a GNSS / 5G fused location information service.

[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 / 5G fusion location information service performance monitoring method.

[0015] The beneficial effects of the present invention are: Compared with the prior art, the present invention provides a method and system technical solution for monitoring the performance of GNSS / 5G fused location information services, which combines the advantages of GNSS all-day, all-weather, and wide coverage with the advantages of 5G communication technology such as millimeter wave, high speed, large bandwidth, large capacity, low latency, and high reliability, to improve the quality and efficiency of positioning accuracy and robustness, and has the universality and availability of different ground object reception performance monitoring points in complex scenarios; based on the capture, tracking, and positioning module processing, the GNSS / 5G fused positioning solution results of the ground object reception performance monitoring points are obtained, and compared with the actual position information of the ground object reception performance monitoring points to obtain the positioning accuracy deviation results; using all-round, multi-redundant, and multi-fused data processing and analysis technical means, based on secure network domain encrypted data transmission and smart cloud service platform, an evaluation plan is constructed and improved, and comprehensive use is made to determine system abnormalities, provide reliable time and frequency information service guarantees for terminal devices, and ensure the performance of terminal devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a system for monitoring the performance of a GNSS / 5G fusion location information service according to an embodiment of the present invention; Figure 2 It is a schematic diagram of a GNSS / 5G fusion location information service performance monitoring system according to an embodiment of the present invention; Figure 3 is a flow chart of positioning accuracy calculation according to an embodiment of the present invention; Figure 4 is a flowchart of calculating the number of visible satellites according to an embodiment of the present invention; Figure 5 4 is a flow chart of DOP value calculation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further defined below in conjunction with the accompanying drawings and embodiments, but is not limited thereto.

[0018] Example 1 like Figure 1 As shown, this embodiment provides a method for monitoring the performance of a GNSS / 5G fusion location information service, which specifically includes the following steps: Obtain the real location information of the ground object reception performance monitoring point, the real location information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; Performing acquisition processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; According to the acquired data and the rough code phase value and carrier frequency obtained by the capture process, tracking processing is performed to obtain the navigation message data and pseudo-range observation value of the instantaneous I branch component demodulated by the received satellite navigation signal; Based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, 5G signal TOA, and 5G signal DOA, the least squares absolute single point positioning method is used to obtain the unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as the positioning solution result; According to the obtained positioning solution results, the positioning accuracy deviation is obtained by comparing the real position information of the ground object receiving performance monitoring point with the positioning solution results; According to the positioning solution results, the number of visible satellites at several cut-off altitude angles is counted according to the type of GNSS satellite navigation and positioning system to obtain the monitoring results of the number of visible satellites; According to the positioning solution results, the position precision factor of the total epoch number of GNSS / 5G fusion positioning is calculated to obtain the DOP value monitoring results.

[0019] Specific: S4.1: Positioning accuracy S4.1.1: Principle analysis Positioning accuracy refers to the deviation between the position provided to the user by the GNSS / 5G fusion positioning information service and the user's actual position (specifically horizontal positioning accuracy and elevation positioning accuracy). In the service monitoring system, it is the comparison between the positioning solution result calculated by the GNSS / 5G fusion positioning data processing system and the actual position of the ground feature reception performance monitoring point.

[0020] S4.1.2: Solution Method The least squares absolute single point positioning solution method is as follows: Obtain GNSS global satellite navigation system navigation message data, pseudo-range observations, 5G base station real location information, 5G signal TOA and DOA information; The observation equation is: ; In the formula, the superscript and the table below Respectively Satellite and ground object reception performance monitoring points; is the pseudorange observation value; The distance between the ground object receiving performance monitoring point and the satellite ; Monitor the time difference for ground reception performance; for noise; is the three-dimensional coordinate position of the observation satellite.

[0021] ; Where, ground object receiving performance monitoring point For the Observation values ​​of ground object reception performance monitoring points of 5G base stations; The distance between the ground object reception performance monitoring point and the 5G base station ; Monitor the time difference for ground reception performance; For the System clock error of each 5G base station; for noise; For the The coordinates of 5G base stations.

[0022] The TOA observation equations between different 5G base stations are subtracted to obtain the TDOA observation equation: ; In the formula, For the TDOA value between the first and second 5G base stations; and Respectively is the observation value of the first and second 5G base stations; is the observation value of the first 5G base station; For the The three-dimensional coordinates of 5G base stations; The coordinates of the monitoring points for receiving performance of the ground object; is the speed of light; and Respectively The system clock difference between the first and the second 5G base stations.

[0023] The DOA measurement method is to use an antenna array to measure the incident angle of the 5G base station broadcast signal to the monitoring data acquisition system, including the heading angle and pitch angle , the observation equation is: ;

[0024] ;

[0025] In the formula, and Respectively The heading and elevation angles of each 5G base station; For the The three-dimensional coordinates of 5G base stations; The coordinates of the ground feature receiving performance monitoring point.

[0026] The linear observation equations for a single 5G base station and observation satellite are: ;

[0027] in, is the observed value with observation noise error. For the Pseudorange observations of satellites; is the pseudorange observation value; is the observation value of the first 5G base station; For the Observation values ​​of 5G base stations; and Respectively The heading and pitch angle observation values ​​of each 5G base station; and Respectively The heading and elevation angles of each 5G base station; The coordinates of the ground object receiving performance monitoring point.

[0028] Pseudorange observations, TDOA, heading angle and pitch angle The observation matrices are: ;

[0029] ;

[0030] ;

[0031] ;

[0032] In the formula, is the observation matrix of pseudorange observations; is the observation matrix of TDOA observations; is the observation matrix of heading angle; is the observation matrix of the pitch angle; The coordinates of the monitoring points for receiving performance of the ground object; is the pseudorange observation value ; For the TDOA value between the first and second 5G base stations; and Respectively The heading and pitch angles of a 5G base station.

[0033] The above observation matrix is ​​expressed in matrix form as: ;

[0034] The observed residual equations are: ;

[0035] Solve the above observation residual equations to obtain the iterative unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point: ;

[0036] in, is the observed residual at each iteration, is the design matrix; The coordinates of the monitoring points for receiving performance of the ground object; Monitor the time difference for ground reception performance.

[0037] The elements are: ;

[0038] ;

[0039] ;

[0040] ;

[0041] ;

[0042] After iteration until convergence, the unique optimal positioning estimation solution of the ground object receiving performance monitoring point is obtained as , the iteration equation is: ;

[0043] In the formula, The coordinates of the monitoring points for receiving performance of the ground object; Monitor the time difference for ground reception performance; It is the only optimal positioning estimation solution for the ground object receiving performance monitoring point; Iterate the positioning estimation solution for the ground object reception performance monitoring point.

[0044] S4.1.3: Positioning accuracy calculation process, such as Figure 3 Shown 1) The data processing system uses the observed information to calculate the positioning results of the receiving performance monitoring point of the local object. The specific calculation method is given in detail in the above article; 2) Compare the real position information of the ground object receiving performance monitoring point with the 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 of ground objects, monitor the positioning accuracy of points, 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.

[0045] S4.2: Number of visible satellites S4.2.1: Principle analysis The number of visible satellites refers to the number of observation satellites that can be received by the monitoring data acquisition system at the location of the ground object reception performance monitoring point; it is related to the cut-off altitude angle for receiving satellite signals. As the cut-off altitude angle is reduced, the number of visible satellites increases accordingly.

[0046] S4.2.2: Solution Method Under the influence of factors such as shadows, obstructions, and fading, a single GNSS global satellite navigation system may have insufficient visible satellites. The number of visible satellites is directly related to the cut-off altitude angle. As the cut-off altitude angle is lowered, the number of visible satellites increases accordingly.

[0047] S4.2.3: Visible satellite number calculation process, such as Figure 4 Shown 1) The data processing system outputs the number of visible satellites; 2) Count the number of visible satellites with cut-off elevation angles of 10°, 15°, 30°, 40° and 45° respectively according to system category; 3) Comprehensive display of the number of visible satellites.

[0048] S4.3: DOP value situation analysis S4.3.1: Principle analysis The DOP value refers to the precision reduction factor. In this embodiment, the DOP value monitoring results specifically include: PDOP (3D Position Dilution of Precision); The DOP value reflects the proportional coefficient between the pseudorange error caused by the geometric spatial layout of the monitoring point and the position error of the monitoring point. It is an important indicator for evaluating the accuracy of position information and explains the contribution of the observation value to the position information solution.

[0049] S4.3.2: Solution Method Three-dimensional coordinate position of ground object reception performance monitoring point The three-dimensional coordinate positions of the observation sources (observation satellite and 5G base station) are , , assuming the matrix : ;

[0050] In the formula, is the three-dimensional coordinate position of the ground object receiving performance monitoring point, Observe the three-dimensional coordinate position of the satellite; is the three-dimensional coordinate position of the 5G base station; The distance between the ground object receiving performance monitoring point and the satellite ; The distance between the ground object reception performance monitoring point and the 5G base station .

[0051] matrix The first three columns are the direction cosine vectors between the ground object reception performance monitoring point and the observation satellite and 5G base station respectively.

[0052] When the observation error is zero mean, the matrix Q is: ;

[0053] use Represents a diagonal matrix The first elements, PDOP solves the equation: ;

[0054] S4.3.3: DOP value calculation process, such as Figure 5 As shown: 1) The data processing system outputs the DOP value; 2) Calculate the position precision factor PDOP of the total epochs of GNSS / 5G fusion positioning; 3) Comprehensively display the DOP value monitoring results.

[0055] Example 2 like Figure 2 As shown, this embodiment discloses a GNSS / 5G fusion location information service performance monitoring system, including the following components: Monitoring data collection system, data processing system, network encryption transmission system, cloud service platform, data storage and sharing system, mobile monitoring platform; Among them, the monitoring data acquisition system selects ground feature points as receiving performance monitoring points, collects the real location information of ground feature receiving performance monitoring points, the real location information of 5G base stations, the original data of receiving satellite navigation signals, 5G signal arrival time (TOA), and 5G signal direction of arrival (DOA), and prepares for forwarding to the data processing system; The data processing system serial port receives the original data of the satellite navigation signal output by the monitoring data acquisition system, and divides the data type into the data transmission chain format according to the GNSS satellite navigation signal, including: 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; The serial port receives the 5G signal arrival time (TOA) and 5G signal direction of arrival (DOA) output by the monitoring data acquisition system, and performs capture and tracking processing on all the above-mentioned received satellite navigation signal data to obtain navigation message data and pseudo-range observations. Combined with the real position information of the 5G base station, 5G signal TOA and DOA information, the final positioning solution results, visible satellite number monitoring results, and DOP value monitoring results are obtained; The safe network encryption transmission system is to build a high-precision grid, heterogeneous network, integrated communication, secure and reliable, and massive concurrent security network; its security network is based on the data processing system terminal data through the connected edge, encryption, and transparent gateway, to achieve data from the terminal in accordance with quantum cryptography protocols, public protocols, and private protocols, through blockchain authentication, quantum encryption communication transmission to the gateway cluster of the cloud service platform, and different data is transmitted to the cloud service platform according to different transmission gateways such as host communication gateway, grid gateway, integrity detection gateway, device gateway, and security (encryption and decryption) gateway to achieve data persistence; secure encryption and blockchain authentication technology, relying on the Internet of Things network, standard specifications and communication gateway cluster transmission, provides secure, reliable and lightweight services (encryption and integrity); The cloud service platform integrates GNSS / 5G fusion location information service performance monitoring, evaluation and analysis, and abnormal situation analysis, including: Location information service: GNSS / 5G fusion positioning service; number of GNSS visible satellites; DOP value location precision factor analysis; abnormal situation: monitoring, evaluation, analysis, comprehensive cloud service platform to evaluate and analyze the location information service, and display the results of the analysis and processing; Data storage and sharing system refers to the system server equipped with disk array, which stores real-time data collected by the monitoring data collection system and post-processing data; stores intermediate business data of the service performance monitoring system, such as data processing and evaluation analysis results; stores monitoring system operation logs, fault information and alarm logs, etc.; archives and backs up data by category; provides data query, extraction, data form modification, output and playback functions; The mobile monitoring platform publishes the data results processed and analyzed by the cloud service platform in the form of a web on the cloud service platform website. The mobile monitoring platform (client) can directly access the platform website to realize the functions of display and query.

[0056] As a further embodiment, This embodiment also discloses a method for constructing a GNSS / 5G fusion location information service performance monitoring system, including the following steps: Step S1, monitoring data collection: select the ground feature reception performance monitoring point, monitor the GNSS / 5G fusion location information service performance, and specifically consist of a space layer and a data collection layer; the space layer refers to GNSS satellites and 5G base stations, mainly including GPS, GLONASS, Galileo, Beidou and other satellite navigation and positioning systems; the data collection layer collects a wide range of data types, including the original collection data of received satellite navigation signals and the real location information of 5G base stations, 5G signal TOA, DOA information, which are obtained through monitoring data collection terminal equipment; Step S2: pre-process the output data according to the protocol, divide the data transmission chain format according to the data type and the GNSS satellite navigation signal, perform capture and tracking processing on it, obtain navigation message data and pseudo-range observation, combine the real position information of the 5G base station, 5G signal TOA and DOA information, obtain the final positioning solution result, visible satellite number monitoring result, and DOP value monitoring result, and package and encrypt them for communication transmission 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 processing system terminal equipment, completing the data encoding from the terminal 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 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 evaluation and analysis results are comprehensively displayed; Step S4: The cloud service platform analyzes and processes the received data, and then comprehensively displays the evaluation and analysis results. The display content specifically includes GNSS / 5G fusion location information service performance monitoring and evaluation analysis, abnormal situation analysis, equipment status, etc.

[0057] Example 3 This embodiment discloses a GNSS / 5G fusion location information service performance monitoring system, including: The data acquisition module is configured to obtain the real position information of the ground feature reception performance monitoring point, the real position information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; The capture module is configured to perform capture processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; The tracking module is configured to perform tracking processing according to the acquired data and the coarse code phase value and carrier frequency obtained by the capture processing, and obtain the navigation message data and pseudo-range observation value demodulated by the instantaneous I branch component of the received satellite navigation signal; The positioning module is configured to obtain a unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as a positioning solution result by using a least squares absolute single point positioning solution method based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, the 5G signal TOA, and the 5G signal DOA; and obtain the positioning accuracy deviation by comparing the real position information of the ground object reception performance monitoring point with the positioning solution result according to the obtained positioning solution result; The visible satellite number module is configured to count the number of visible satellites at a certain cutoff altitude angle according to the positioning solution result and the type of GNSS satellite navigation and positioning system, and obtain the visible satellite number monitoring result; The DOP value module is configured to calculate the position precision factor of the total epoch number of GNSS / 5G fusion positioning according to the positioning solution result to obtain the DOP value monitoring result.

[0058] Example 4 A computer-readable storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device, and a method for monitoring the performance of a GNSS / 5G fused location information service provided in this embodiment.

[0059] 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 and executed by the processor. A method for monitoring the performance of a GNSS / 5G fused location information service provided in this embodiment.

[0060] 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.

[0061] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0062] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0063] 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 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0064] 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.

[0065] 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 method for monitoring the performance of a GNSS / 5G fusion location information service, characterized in that: include: Obtain the real location information of the ground object reception performance monitoring point, the real location information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; TOA refers to the arrival time of the 5G signal; DOA refers to the direction of arrival of the 5G signal; Performing acquisition processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; According to the acquired data and the rough code phase value and carrier frequency obtained by the capture process, tracking processing is performed to obtain the navigation message data and pseudo-range observation value of the instantaneous I branch component demodulated by the received satellite navigation signal; Based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, 5G signal TOA, and 5G signal DOA, the least squares absolute single point positioning method is used to obtain the unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as the positioning solution result; According to the obtained positioning solution results, the positioning accuracy deviation is obtained by comparing the real position information of the ground object receiving performance monitoring point with the positioning solution results; According to the positioning solution results, the number of visible satellites at several cut-off altitude angles is counted according to the type of GNSS satellite navigation and positioning system to obtain the monitoring results of the number of visible satellites; According to the positioning solution results, the position precision factor of the total epoch number of GNSS / 5G fusion positioning is calculated to obtain the DOP value monitoring results.

2. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 1, characterized in that: The capture processing of the acquired data specifically includes performing capture processing on the acquired data according to the acquired data through the configured capture search bandwidth, capture detection threshold and capture related integration time to obtain the rough code phase value and carrier frequency of the received satellite navigation signal.

3. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 1, characterized in that: The tracking process is performed based on the acquired data and the rough code phase value and carrier frequency obtained by the capture process, specifically including performing tracking process on the acquired data through the configured carrier loop noise bandwidth, loop damping factor, code loop noise bandwidth, loop damping factor and correlation interval to obtain the navigation message data and pseudorange observation value of the instant I branch component demodulation of the received satellite navigation signal.

4. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 1, characterized in that: The least squares absolute single point positioning solution method is used to obtain a unique solution for the three-dimensional spatial coordinate position of the ground object reception performance monitoring point, including using the 5G signal TOA observation equation and the 5G signal DOA observation equation to construct an observation residual equation group, and iterating the observation residual of the observation residual equation group until convergence to obtain a unique optimal positioning estimation solution for the ground object reception performance monitoring point.

5. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 4 is characterized in that: The 5G signal TDOA observation equation is: ; In the formula, TDOA refers to the time difference of arrival of 5G signals; and Respectively The observation values ​​of the first and second 5G base stations; For the The three-dimensional coordinates of 5G base stations; The coordinates of the monitoring points for receiving performance of the ground object; is the speed of light; and Respectively The system clock difference between the first and second 5G base stations.

6. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 4 is characterized in that: The 5G signal DOA observation equation includes a heading angle observation equation and a pitch angle observation equation. The heading angle observation equation is: .

7. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 6, characterized in that: The pitch angle observation equation is: .

8. The method for monitoring the performance of a GNSS / 5G fusion location information service according to claim 4, characterized in that: The observation residual equations are: ; In the formula, is the design matrix; The coordinates of the monitoring points for receiving performance of the ground object; Monitor the time difference for ground reception performance; Ground object reception performance monitoring point is the observed residual at each iteration.

9. A GNSS / 5G fusion location information service performance monitoring system, characterized in that: include: The data acquisition module is configured to obtain the real location information of the ground feature reception performance monitoring point, the real location information of the 5G base station, the 5G signal TOA, the 5G signal DOA and the original acquisition data of the received satellite navigation signal output by the monitoring data acquisition terminal; The capture module is configured to perform capture processing on the acquired data to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal; The tracking module is configured to perform tracking processing according to the acquired data and the coarse code phase value and carrier frequency obtained by the capture processing, and obtain the navigation message data and pseudo-range observation value demodulated by the instantaneous I branch component of the received satellite navigation signal; The positioning module is configured to obtain a unique solution of the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as a positioning solution result by using a least squares absolute single point positioning solution method based on the obtained navigation message data and pseudo-range observations, combined with the real position information of the 5G base station, the 5G signal TOA, and the 5G signal DOA; and obtain the positioning accuracy deviation by comparing the real position information of the ground object reception performance monitoring point with the positioning solution result according to the obtained positioning solution result; The visible satellite number module is configured to count the number of visible satellites at a certain cutoff altitude angle according to the positioning solution result and the type of GNSS satellite navigation and positioning system to obtain the visible satellite number monitoring result; The DOP value module is configured to calculate the position precision factor of the total epoch number of GNSS / 5G fusion positioning according to the positioning solution result to obtain the DOP value monitoring result.

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