Preprocessing method, device, equipment and medium for synchronous satellite GNSS observation data

Abstract

The present disclosure provides a method, device, equipment and medium for preprocessing synchronous satellite GNSS observation data, including: obtaining original satellite data observed by a synchronous satellite GNSS, wherein the original satellite data includes: measured pseudoranges and measured carrier phases corresponding to multiple epoch data points; performing ionospheric delay correction on the measured pseudoranges and measured carrier phases corresponding to the epoch data points to obtain ionospheric corrected pseudoranges and ionospheric corrected carrier phases; performing pseudorange smoothing processing on the ionospheric corrected pseudoranges to obtain smoothed corrected pseudoranges; performing ambiguity resolution on the smoothed corrected pseudoranges to obtain ambiguity resolved pseudoranges; performing atomic clock frequency stability correction on the ambiguity resolved pseudoranges and ionospheric corrected carrier phases to obtain atomic clock corrected pseudoranges and atomic clock corrected carrier phases; performing abnormal point repair based on the atomic clock corrected pseudoranges and atomic clock corrected carrier phases to obtain the preprocessing results of the original satellite data. Thus, the validity of the observation data is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of data preprocessing, and in particular, to a method, apparatus, device and medium for preprocessing synchronous satellite GNSS observation data. Background Art

[0002] At present, the navigation measurement data processing and orbit determination on low-orbit satellites are relatively mature, and the orbit determination accuracy has reached the cm level. However, compared with low-orbit satellite navigation orbit determination, the orbit determination error of synchronous satellite navigation is very large. The synchronous satellite orbit determination process will be affected by the synchronous satellite observation geometry, which makes the synchronous satellite only able to see the navigation satellites on the back of the earth, and some navigation satellites can only receive side-lobe navigation signals. Therefore, there are problems such as weak navigation signals and a small number of navigation stars tracked at the same time, which makes it difficult for the synchronous satellite's orbit determination accuracy to meet the meter-level orbit determination accuracy requirements.

[0003] After the GNSS (Global Navigation Satellite System) raw measurement data received by the synchronous satellite is measured by the onboard navigation receiver, the measurement results are stored in the synchronous satellite memory. The relevant data included in the output results of the navigation receiver can be transmitted to the ground measurement and control system through real-time telemetry and delayed telemetry. The measurement and control center can use the on-board real-time orbit determination results and the original navigation measurement data for precise orbit determination and precise prediction calculations. In order to achieve higher orbit determination and prediction accuracy, it is necessary to use the original navigation measurement data in combination with the navigation precise ephemeris for orbit determination and prediction calculations. Therefore, data preprocessing of synchronous satellites before orbit determination is essential to improve satellite orbit determination accuracy. Summary of the invention

[0004] The embodiments described herein provide a method, apparatus, device and medium for preprocessing synchronous satellite GNSS observation data, which overcome the above-mentioned problems.

[0005] In a first aspect, according to the content of the present disclosure, a method for preprocessing synchronous satellite GNSS observation data is provided, comprising:

[0006] Acquire raw satellite data observed by a synchronous satellite GNSS, wherein the raw satellite data includes: measured pseudoranges and measured carrier phases corresponding to a plurality of epoch data points;

[0007] Performing ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each of the epoch data points to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each of the epoch data points;

[0008] Performing pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each of the epoch data points to obtain a smoothed corrected pseudorange corresponding to each of the epoch data points;

[0009] Performing ambiguity resolution on the smoothed corrected pseudorange corresponding to each of the epoch data points to obtain an ambiguity resolution pseudorange corresponding to each of the epoch data points;

[0010] Performing atomic clock frequency stability correction on the ambiguity resolved pseudorange and ionosphere corrected carrier phase corresponding to each of the epoch data points to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each of the epoch data points;

[0011] Based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each of the epoch data points, abnormal point repair is performed on the plurality of epoch data points to obtain a preprocessing result of the original satellite data.

[0012] In a second aspect, according to the content of the present disclosure, a preprocessing device for synchronous satellite GNSS observation data is provided, comprising:

[0013] An acquisition module is used to acquire raw satellite data observed by a synchronous satellite GNSS, wherein the raw satellite data includes: a measured pseudorange and a measured carrier phase corresponding to a plurality of epoch data points;

[0014] A first correction module is used to perform ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each of the epoch data points to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each of the epoch data points;

[0015] A processing module, configured to perform pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each of the epoch data points to obtain a smoothed corrected pseudorange corresponding to each of the epoch data points;

[0016] A solution module, used for performing ambiguity solution on the smoothed corrected pseudorange corresponding to each of the epoch data points, to obtain the ambiguity solution pseudorange corresponding to each of the epoch data points;

[0017] A second correction module is used to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange and ionosphere corrected carrier phase corresponding to each of the epoch data points to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each of the epoch data points;

[0018] The repair module is used to repair abnormal points of the multiple epoch data points based on the atomic clock-corrected pseudorange and the atomic clock-corrected carrier phase corresponding to each epoch data point, so as to obtain the preprocessing result of the original satellite data.

[0019] In a third aspect, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the preprocessing method of synchronous satellite GNSS observation data in any of the above embodiments are implemented.

[0020] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for preprocessing synchronous satellite GNSS observation data in any of the above embodiments are implemented.

[0021] The method for preprocessing synchronous satellite GNSS observation data provided in the embodiment of the present application obtains the original satellite data observed by the synchronous satellite GNSS, wherein the original satellite data includes: measured pseudoranges and measured carrier phases corresponding to multiple epoch data points; ionospheric delay correction is performed on the measured pseudorange and measured carrier phase corresponding to each epoch data point to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point; pseudorange smoothing is performed on the ionospheric corrected pseudorange corresponding to each epoch data point to obtain the smoothed corrected pseudorange corresponding to each epoch data point; ambiguity resolution is performed on the smoothed corrected pseudorange corresponding to each epoch data point to obtain the ambiguity resolved pseudorange corresponding to each epoch data point; atomic clock frequency stability correction is performed on the ambiguity resolved pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point; abnormal point repair is performed on multiple epoch data points based on the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point to obtain the preprocessing result of the original satellite data. In this way, by correcting the original satellite data obtained by GNSS observation and repairing the anomalies, the effectiveness of the observation data can be greatly enhanced, thereby improving the orbit determination accuracy of the synchronous satellite.

[0022] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0024] Figure 1 It is a flowchart of a method for preprocessing synchronous satellite GNSS observation data provided by the present disclosure;

[0025] Figure 2 It is a structural schematic diagram of a preprocessing device for synchronous satellite GNSS observation data provided by the present disclosure;

[0026] Figure 3It is a structural schematic diagram of a computer device provided by the present disclosure.

[0027] It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0029] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship. Terms such as "first" and "second" are only used to distinguish one component (or a part of a component) from another component (or another part of a component).

[0032] In the description of the present application, unless otherwise specified, “plurality” means more than two (including two), and similarly, “plurality groups” means more than two (including two).

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0034] Figure 1 is a flow chart of a method for preprocessing synchronous satellite GNSS observation data provided by an embodiment of the present disclosure, such as Figure 1 As shown, the specific process of the preprocessing method of synchronous satellite GNSS observation data includes:

[0035] S110, obtaining original satellite data observed by a synchronous satellite GNSS, wherein the original satellite data includes: measured pseudoranges and measured carrier phases corresponding to a plurality of epoch data points.

[0036] Among them, the original satellite data of synchronous satellite GNSS observations can be obtained through real-time telemetry and delayed telemetry downlink.

[0037] The measured pseudorange corresponding to the epoch data point is the approximate distance between the ground receiver and the synchronous satellite during the synchronous satellite positioning process. The measured carrier phase is the measured value of the phase of the synchronous satellite signal received by the reference station at the same receiving time relative to the phase of the carrier signal generated by the ground receiver.

[0038] S120, performing ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each epoch data point to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point.

[0039] Among them, ionospheric delay is the observation error caused by the refraction effect of the ionosphere on the GNSS signal, which changes the propagation speed of the satellite signal. The ionosphere is a dispersive medium, and its delay is related to the signal frequency and the total electron content in the propagation path.

[0040] Ionospheric delay in pseudorange and carrier phase observations and It can be expressed as shown in the following formula (1).

[0041] (1)

[0042] In formula (1), s 1. s 2 and s 3 is related to the total electron content of the ionosphere, f is the carrier frequency. Ionospheric delay can be divided into first-order, second-order and third-order delays, of which the first-order delay accounts for more than 99.9% of the total delay, while the second-order and third-order delays are relatively small and can usually be ignored.

[0043] In some embodiments, performing ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each epoch data point to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point includes:

[0044] The latitude of the ionospheric piercing point and the satellite altitude angle corresponding to each epoch data point are obtained; the ionospheric delay time corresponding to each epoch data point is determined based on the latitude of the ionospheric piercing point and the satellite altitude angle corresponding to each epoch data point; the ionospheric delay time corresponding to each epoch data point is used to perform an ionospheric delay correction on the measured pseudorange corresponding to each epoch data point, and the ionospheric delay time corresponding to each epoch data point is used to perform an ionospheric delay correction on the measured carrier phase corresponding to each epoch data point, so as to determine the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point.

[0045] Among them, the ionospheric delay time quantity corresponding to each epoch data point is determined based on the latitude of the ionospheric puncture point and the satellite altitude angle corresponding to each epoch data point T L , which can be realized by using the following formula (2).

[0046] (2)

[0047] In formula (2), F G represents the mapping function that converts the vertical ionospheric time delay into the line-of-sight direction, A and P denote the amplitude and period of the cosine, respectively. t For time.

[0048] Amplitude A As shown in the following formula (3).

[0049] (3)

[0050] In formula (3), α n Indicates a Kobuchar model parameter with an update cycle of one day. W is the latitude of the ionospheric piercing point corresponding to the epoch data point, that is, the geomagnetic latitude of the ionospheric piercing point. The height of a single ionosphere layer can be taken as 350km.

[0051] cycle P As shown in the following formula (4).

[0052] (4)

[0053] In formula (4), β nIndicates another Kobuchar model parameter with an update period of one day.

[0054] Mapping Function F G As shown in the following formula (5).

[0055] (5)

[0056] In formula (5), E is the satellite altitude angle corresponding to the epoch data point.

[0057] The ionospheric delay time corresponding to each epoch data point is used to perform ionospheric delay correction on the measured pseudorange corresponding to each epoch data point. For example, the ionospheric delay time corresponding to each epoch data point is T L with the speed of light c The product of is taken as the range deviation, and the difference between the measured pseudorange corresponding to each epoch data point and the range deviation is determined as the ionospheric corrected pseudorange corresponding to each epoch data point.

[0058] The ionospheric delay time corresponding to each epoch data point is used to perform ionospheric delay correction on the measured carrier phase corresponding to each epoch data point. T L with 2 πf The product of is taken as the carrier phase deviation, and the difference between the measured carrier phase corresponding to each epoch data point and the carrier phase deviation is determined as the ionospheric corrected carrier phase corresponding to each epoch data point.

[0059] Thus, the measured pseudorange corresponding to each epoch data point is corrected for ionospheric delay through the ionospheric delay time corresponding to the epoch data point, and the measured carrier phase corresponding to each epoch data point is corrected for ionospheric delay through the ionospheric delay time corresponding to the epoch data point, so as to effectively determine the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point.

[0060] S130. Perform pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each epoch data point to obtain a smoothed corrected pseudorange corresponding to each epoch data point.

[0061] Among them, a carrier phase smoothing pseudorange algorithm (such as a Hatch filter algorithm) can be used to smooth the measured pseudorange, so as to use a linear combination of the pseudorange and the carrier phase to weaken the multipath and noise of the pseudorange.

[0062] In terms of distance, the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to the epoch data point can be input into the Hatch filter module, and the smoothed pseudorange, i.e., the smoothed corrected pseudorange, can be obtained based on the output of the Hatch filter module.

[0063] S140 , performing ambiguity resolution on the smoothed corrected pseudorange corresponding to each epoch data point to obtain the ambiguity resolved pseudorange corresponding to each epoch data point.

[0064] Among them, the long baseline ambiguity single epoch resolution algorithm can be used to resolve the ambiguity, so as to achieve fast and correct resolution of the ambiguity.

[0065] In some embodiments, performing ambiguity resolution on the smoothed corrected pseudorange corresponding to each epoch data point to obtain the ambiguity resolved pseudorange corresponding to each epoch data point includes:

[0066] Acquire synchronous satellite ephemeris data; determine the ambiguity resolution amount corresponding to each epoch data point based on the synchronous satellite ephemeris data and the smoothed corrected pseudorange corresponding to each epoch data point; perform ambiguity resolution on the smoothed corrected pseudorange corresponding to each epoch data point using the ambiguity resolution amount corresponding to each epoch data point, so as to determine the ambiguity resolution pseudorange corresponding to each epoch data point.

[0067] Among them, a long baseline single epoch ambiguity resolution algorithm can be used to determine the ambiguity resolution amount corresponding to each epoch data point based on the synchronous satellite ephemeris data and the smoothed corrected pseudorange corresponding to each epoch data point. For example, the synchronous satellite ephemeris data and the smoothed corrected pseudorange corresponding to the epoch data point are input into the ambiguity resolution module to obtain the ambiguity resolution amount corresponding to the epoch data point.

[0068] The ambiguity resolution amount corresponding to each epoch data point is used to perform ambiguity resolution on the smoothed corrected pseudorange corresponding to each epoch data point. For example, the product of the ambiguity resolution amount corresponding to the epoch data point and the fuzzy distance is multiplied by the sum of the smoothed corrected pseudorange corresponding to the epoch data point to determine the ambiguity resolution amount corresponding to the epoch data point.

[0069] S150, performing atomic clock frequency stability correction on the ambiguity resolved pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point, to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point.

[0070] Among them, the remote ground station atomic clock frequency stability evaluation algorithm can be used to evaluate the frequency stability of the joint single atomic clock of the three remote ground stations based on the carrier Doppler two-way frequency transfer technology and the triangular hat method, so as to improve the accuracy of clock error calculation.

[0071] In some embodiments, performing atomic clock frequency stability correction on the ambiguity resolution pseudorange and ionosphere corrected carrier phase corresponding to each epoch data point to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point includes:

[0072] The satellite clock error corresponding to each epoch data point is used to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange corresponding to each epoch data point, and the atomic clock corrected pseudorange corresponding to each epoch data point is obtained. c The product of is taken as the pseudorange clock bias, and the difference between the ambiguity resolved pseudorange corresponding to each epoch data point and the pseudorange clock bias is determined as the atomic clock corrected pseudorange corresponding to each epoch data point.

[0073] The satellite clock error corresponding to each epoch data point is used to perform atomic clock frequency stability correction on the ionospheric correction carrier phase corresponding to each epoch data point, and the atomic clock correction carrier phase corresponding to each epoch data point is obtained. For example, the satellite clock error corresponding to each epoch data point is compared with 2 πf The product of is taken as the carrier phase clock deviation, and the difference between the ambiguity resolved carrier phase corresponding to each epoch data point and the carrier phase clock deviation is determined as the atomic clock corrected carrier phase corresponding to each epoch data point.

[0074] Thus, the ambiguity resolution pseudorange corresponding to the epoch data point is corrected for atomic clock frequency stability through the satellite clock error corresponding to the epoch data point, and the ionospheric correction carrier phase corresponding to the epoch data point is corrected for atomic clock frequency stability through the satellite clock error corresponding to the epoch data point, so as to effectively determine the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to the epoch data point.

[0075] S160, based on the atomic clock-corrected pseudorange and the atomic clock-corrected carrier phase corresponding to each epoch data point, perform abnormal point repair on multiple epoch data points to obtain a preprocessing result of the original satellite data.

[0076] Among them, the abnormal point repair may include: coarse jump point repair, week jump point repair and clock jump point repair. The preprocessing results of the original satellite data may include: the final correction results of the measured pseudorange corresponding to each epoch data point and the measured carrier phase.

[0077] In some embodiments, based on the atomic clock-corrected pseudorange and the atomic clock-corrected carrier phase corresponding to each epoch data point, abnormal point repair is performed on multiple epoch data points to obtain a preprocessing result of the original satellite data, including:

[0078] Based on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, the coarse jump anomaly points in multiple epoch data points are determined; based on the atomic clock-corrected carrier phase corresponding to each epoch data point, the cycle jump anomaly points in multiple epoch data points are determined; based on the atomic clock-corrected carrier phase corresponding to each epoch data point, the clock jump anomaly points in multiple epoch data points are determined; the coarse jump anomaly points, cycle jump anomaly points and clock jump anomaly points are repaired respectively to obtain the preprocessing results of the original satellite data.

[0079] Among them, the gross error detection can be carried out on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, the time and number of gross errors can be determined and counted, and the gross error data can be repaired.

[0080] Accordingly, clock jumps and cycle slips are detected by detecting the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, the time when the clock jumps and cycle slips occur is determined and counted, and the clock jump and cycle slip data are repaired.

[0081] In some embodiments, determining a coarse jump abnormal point in a plurality of epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each epoch data point includes:

[0082] Based on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, the wide lane ambiguity data and fuzzy mean square data corresponding to each epoch data point are determined; the epoch data point whose wide lane ambiguity data or fuzzy mean square data meets the coarse jump preset conditions among multiple epoch data points is determined as the coarse jump anomaly point.

[0083] For example, the widelane ambiguity data corresponding to each epoch data point N It can be determined according to the following formula (6).

[0084] (6)

[0085] In formula (6), φ 1 is the atomic clock corrected carrier phase corresponding to the current epoch data point, φ 2 is the atomic clock corrected carrier phase corresponding to the previous epoch data point, f 1 is the carrier frequency corresponding to the current epoch data point, f 2 is the carrier frequency corresponding to the previous epoch data point, L 1 is the atomic clock corrected pseudorange corresponding to the current epoch data point, L 2 is the atomic clock corrected pseudorange corresponding to the previous epoch data point, λ is the carrier wavelength.

[0086] The fuzzy mean square data includes: the average wide lane fuzziness and the root mean square, which can be determined according to the following formula (7).

[0087] (7)

[0088] In formula (7), i The sequence number representing the epoch data point.

[0089] The coarse jump preset condition can be seen in the following formula (8).

[0090] (8)

[0091] According to formula (8), if i If the epoch data points satisfy the conditions in formula (8), then the i The epoch data point is a coarse jump anomaly point.

[0092] Based on the atomic clock corrected carrier phase corresponding to each epoch data point, the cycle slip anomaly points in multiple epoch data points are determined, including:

[0093] The epoch data points whose wide lane ambiguity data or fuzzy mean square data meet the preset conditions of the cycle slip among the multiple epoch data points are determined as the cycle slip abnormal points.

[0094] For example, the cycle slip preset condition can be shown in the following formula (9).

[0095] (9)

[0096] When identifying cycle slip anomalies, the GF value corresponding to each epoch data point can also be calculated based on the atomic clock-corrected carrier phase, carrier frequency, and wide-lane ambiguity data corresponding to each epoch data point (using the parameter M GF For details, please refer to the following formula (10).

[0097] (10)

[0098] In formula (10), λ 1 is the carrier wavelength corresponding to the current epoch data point, λ 2 is the carrier wavelength corresponding to the previous epoch data point.

[0099] And, calculate the i epoch data point and i For details, see the following formula (11).

[0100] (11)

[0101] Ifi epoch data point and i The GF interpolation of -1 epoch data points satisfies the following formula (12), which means i The epoch data point is the cycle slip anomaly point.

[0102] (12)

[0103] Based on the atomic clock corrected carrier phase corresponding to each epoch data point, the clock jump anomaly points in multiple epoch data points are determined, including:

[0104] The carrier phase is corrected based on the atomic clock corresponding to each epoch data point, and the carrier measurement deviation value of each epoch data point and the adjacent data point is determined; the epoch data point corresponding to the carrier measurement deviation value that meets the clock jump preset condition among multiple epoch data points is determined as the clock jump abnormal point.

[0105] Among them, when determining the carrier measurement deviation value between the epoch data point and the adjacent data point, it can be determined by combining the atomic clock-corrected carrier phase corresponding to the epoch data point and the atomic clock-corrected pseudorange corresponding to the epoch data point.

[0106] For example, the carrier measurement deviation value between an epoch data point and an adjacent data point can be calculated using the following formula (13).

[0107] (13)

[0108] In formula (13), ρ Correct pseudoranges for atomic clocks.

[0109] If the carrier measurement deviation value corresponding to an epoch data point satisfies formula (14) or formula (15), it is determined that the epoch data point has a microsecond clock jump and is a clock jump abnormal point.

[0110] (14)

[0111] (15)

[0112] In formula (14) and formula (15), .

[0113] Clock jump confirmation, determine whether all satellites at this epoch are affected by clock jump, and determine if the h 1= h 2+ h 3, it is confirmed that there is a clock jump in this epoch, h 1 is the number of effective satellites participating in clock jump detection, h 2 is the number of satellites with millisecond clock jumps, h 3 is the number of satellites that experience microsecond clock jumps.

[0114] In some embodiments, the outlier points of the coarse slip anomaly points, the cycle slip anomaly points and the clock slip anomaly points are repaired respectively to obtain the preprocessing result of the original satellite data, including:

[0115] Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the coarse jump anomaly point, the atomic clock corrected pseudorange corresponding to the coarse jump anomaly point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the coarse jump anomaly point, the atomic clock corrected carrier phase corresponding to the coarse jump anomaly point is smoothed.

[0116] For example, the atomic clock-corrected pseudorange corresponding to the previous data point of the coarse jump anomaly point and the average data of the atomic clock-corrected pseudorange corresponding to the next data point are used to replace the atomic clock-corrected pseudorange corresponding to the coarse jump anomaly point; the atomic clock-corrected carrier phase corresponding to the previous data point of the coarse jump anomaly point and the average data of the atomic clock-corrected carrier phase corresponding to the next data point are used to replace the atomic clock-corrected carrier phase corresponding to the coarse jump anomaly point.

[0117] Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the cycle slip anomaly point, the atomic clock corrected pseudorange corresponding to the cycle slip anomaly point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the cycle slip anomaly point, the atomic clock corrected carrier phase corresponding to the cycle slip anomaly point is smoothed.

[0118] For example, the atomic clock-corrected pseudorange corresponding to the previous data point of the cycle slip anomaly point and the average data of the atomic clock-corrected pseudorange corresponding to the next data point are used to replace the atomic clock-corrected pseudorange corresponding to the cycle slip anomaly point; the atomic clock-corrected carrier phase corresponding to the previous data point of the cycle slip anomaly point and the average data of the atomic clock-corrected carrier phase corresponding to the next data point are used to replace the atomic clock-corrected carrier phase corresponding to the cycle slip anomaly point.

[0119] Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the clock jump anomaly point, the atomic clock corrected pseudorange corresponding to the clock jump anomaly point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the clock jump anomaly point, the atomic clock corrected carrier phase corresponding to the clock jump anomaly point is smoothed.

[0120] For example, the average data of the atomic clock-corrected pseudorange corresponding to the previous data point of the clock jump abnormal point and the atomic clock-corrected pseudorange corresponding to the next data point is used to replace the atomic clock-corrected pseudorange corresponding to the clock jump abnormal point; the average data of the atomic clock-corrected carrier phase corresponding to the previous data point of the clock jump abnormal point and the atomic clock-corrected carrier phase corresponding to the next data point is used to replace the atomic clock-corrected carrier phase corresponding to the clock jump abnormal point. Thus, the corresponding data of the abnormal point is smoothly repaired through the measurement data of the adjacent data points of the abnormal point, effectively avoiding the problem of abnormal data affecting the orbit determination accuracy of synchronous satellites.

[0121] In this embodiment, raw satellite data observed by a synchronous satellite GNSS is obtained, and the raw satellite data includes: measured pseudoranges and measured carrier phases corresponding to multiple epoch data points; ionospheric delay correction is performed on the measured pseudorange and measured carrier phase corresponding to each epoch data point to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point; pseudorange smoothing is performed on the ionospheric corrected pseudorange corresponding to each epoch data point to obtain the smoothed corrected pseudorange corresponding to each epoch data point; ambiguity resolution is performed on the smoothed corrected pseudorange corresponding to each epoch data point to obtain the ambiguity resolved pseudorange corresponding to each epoch data point; atomic clock frequency stability correction is performed on the ambiguity resolved pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point; and abnormal point repair is performed on multiple epoch data points based on the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point to obtain the preprocessing result of the raw satellite data. In this way, by correcting the original satellite data obtained by GNSS observation and repairing the anomalies, the effectiveness of the observation data can be greatly enhanced, thereby improving the orbit determination accuracy of the synchronous satellite.

[0122] In addition, after performing abnormal point repair on multiple epoch data points based on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, an indicator evaluation of abnormal repair can be performed, including but not limited to: data integrity rate, data fullness and cycle slip ratio.

[0123] Among them, the data integrity rate Indicates the availability and integrity of data during the observation period, which can reflect the surrounding environment of the station and describe the signal tracking situation of the receiver. The smaller the value, the worse the data quality. When both pseudorange observations and carrier phase observations exist, it is considered that there is a complete observation. The data integrity rate is the ratio of the actual amount of received data to the theoretical amount of data that should be received. The theoretical amount of data is the number of observations of visible satellites above the synchronous satellite using the synchronous satellite ephemeris data. For details, please refer to formula (16).

[0124] (16)

[0125] In formula (16), m Indicates the number of all visible satellites in a certain period of time. and Respectively represent the first u Satellite No. j The actual and theoretical received data volumes for each frequency point.

[0126] When the receiver processes an ideal environment, the receiver should be able to receive observations of all types and frequencies, and the amount of each type of observation should be equal. However, due to the influence of the actual environment and the receiver's own equipment, there will be unequal amounts of observations of different types. Data fullness is defined to describe this phenomenon, that is, the ratio of the maximum amount of observations of different types of a certain satellite to the minimum amount of observations. The larger the value, the better the data fullness. When calculating data fullness, this embodiment considers two types of observations: pseudorange and carrier phase. For details, see formula (17).

[0127] (17)

[0128] In formula (17), Y For the u Satellite No. j An array of observations at each frequency bin.

[0129] The ratio of the actual number of epochs of carrier phase observation received by the receiver to the number of epochs of cycle slips in a certain period of time is called the cycle slip ratio. R The smaller it is, the worse the data quality is. For details, please refer to formula (18).

[0130] (18)

[0131] In formula (18), n is the number of observed epoch data points, z is the number of cycle slip anomalies determined.

[0132] Figure 2 A structural schematic diagram of a preprocessing device for synchronous satellite GNSS observation data provided in this embodiment, the preprocessing device for synchronous satellite GNSS observation data may include: an acquisition module 210, a first correction module 220, a processing module 230, a solution module 240, a second correction module 250 and a repair module 260.

[0133] The acquisition module 210 is used to acquire the original satellite data observed by the synchronous satellite GNSS, wherein the original satellite data includes: measured pseudoranges and measured carrier phases corresponding to a plurality of epoch data points.

[0134] The first correction module 220 is used to perform ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each epoch data point to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point.

[0135] The processing module 230 is used to perform pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each epoch data point to obtain a smoothed corrected pseudorange corresponding to each epoch data point.

[0136] The solving module 240 is used to solve the ambiguity of the smoothed corrected pseudorange corresponding to each epoch data point to obtain the ambiguity solved pseudorange corresponding to each epoch data point.

[0137] The second correction module 250 is used to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange and ionospheric correction carrier phase corresponding to each epoch data point to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point.

[0138] The repair module 260 is used to repair abnormal points of multiple epoch data points based on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, so as to obtain the preprocessing result of the original satellite data.

[0139] In this embodiment, optionally, the first correction module 220 is specifically configured to:

[0140] The latitude of the ionospheric piercing point and the satellite altitude angle corresponding to each epoch data point are obtained; the ionospheric delay time corresponding to each epoch data point is determined based on the latitude of the ionospheric piercing point and the satellite altitude angle corresponding to each epoch data point; the ionospheric delay time corresponding to each epoch data point is used to perform an ionospheric delay correction on the measured pseudorange corresponding to each epoch data point, and the ionospheric delay time corresponding to each epoch data point is used to perform an ionospheric delay correction on the measured carrier phase corresponding to each epoch data point, so as to determine the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each epoch data point.

[0141] In this embodiment, optionally, the solving module 240 is specifically used for:

[0142] Acquire synchronous satellite ephemeris data; determine the ambiguity resolution amount corresponding to each epoch data point based on the synchronous satellite ephemeris data and the smoothed corrected pseudorange corresponding to each epoch data point; perform ambiguity resolution on the smoothed corrected pseudorange corresponding to each epoch data point using the ambiguity resolution amount corresponding to each epoch data point, so as to determine the ambiguity resolution pseudorange corresponding to each epoch data point.

[0143] In this embodiment, optionally, the second correction module 250 is specifically configured to:

[0144] The satellite clock error corresponding to each epoch data point is used to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange corresponding to each epoch data point; the satellite clock error corresponding to each epoch data point is used to perform atomic clock frequency stability correction on the ionospheric corrected carrier phase corresponding to each epoch data point to determine the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point.

[0145] In this embodiment, optionally, the repair module 260 includes: a first determining unit, a second determining unit, a third determining unit and a repairing unit.

[0146] The first determining unit is used to determine a coarse jump abnormal point in a plurality of epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each epoch data point.

[0147] The second determining unit is used to determine the cycle slip abnormal point among the multiple epoch data points based on the atomic clock corrected carrier phase corresponding to each epoch data point.

[0148] The third determining unit is used to determine the clock jump abnormal point in the multiple epoch data points based on the atomic clock corrected carrier phase corresponding to each epoch data point.

[0149] The repair unit is used to repair the coarse jump anomaly points, the cycle slip anomaly points and the clock jump anomaly points respectively to obtain the preprocessing result of the original satellite data.

[0150] In this embodiment, optionally, the first determining unit is specifically configured to:

[0151] Based on the atomic clock-corrected pseudorange and atomic clock-corrected carrier phase corresponding to each epoch data point, the wide lane ambiguity data and fuzzy mean square data corresponding to each epoch data point are determined; the epoch data point whose wide lane ambiguity data or fuzzy mean square data meets the coarse jump preset conditions among multiple epoch data points is determined as the coarse jump anomaly point.

[0152] In this embodiment, optionally, the second determining unit is specifically configured to:

[0153] The epoch data points whose wide lane ambiguity data or fuzzy mean square data meet the preset conditions of the cycle slip among the multiple epoch data points are determined as the cycle slip abnormal points.

[0154] In this embodiment, optionally, the third determining unit is specifically configured to:

[0155] The epoch data point corresponding to the carrier measurement deviation value satisfying the clock jump preset condition among the multiple epoch data points is determined as the clock jump abnormal point.

[0156] In this embodiment, the repair unit is optionally used to:

[0157] Based on the atomic clock-corrected pseudorange corresponding to the adjacent data points of the coarse jump anomaly, the atomic clock-corrected pseudorange corresponding to the coarse jump anomaly is smoothed, and based on the atomic clock-corrected carrier phase corresponding to the adjacent data points of the coarse jump anomaly, the atomic clock-corrected carrier phase corresponding to the coarse jump anomaly is smoothed; based on the atomic clock-corrected pseudorange corresponding to the adjacent data points of the cycle slip anomaly, the atomic clock-corrected pseudorange corresponding to the cycle slip anomaly is smoothed, and based on the atomic clock-corrected carrier phase corresponding to the adjacent data points of the cycle slip anomaly, the atomic clock-corrected carrier phase corresponding to the cycle slip anomaly is smoothed; based on the atomic clock-corrected pseudorange corresponding to the adjacent data points of the clock slip anomaly, the atomic clock-corrected pseudorange corresponding to the clock slip anomaly is smoothed, and based on the atomic clock-corrected carrier phase corresponding to the adjacent data points of the clock slip anomaly, the atomic clock-corrected carrier phase corresponding to the clock slip anomaly is smoothed.

[0158] The preprocessing device for synchronous satellite GNSS observation data provided in the present disclosure can execute the above method embodiments. Its specific implementation principles and technical effects can be found in the above method embodiments, and the present disclosure will not repeat them here.

[0159] The present application also provides a computer device. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0160] The computer device includes a memory 310 and a processor 320 that are connected to each other through a system bus. It should be noted that the figure only shows a computer device with a memory 310 and a processor 320, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0161] Computer devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Computer devices can interact with users through keyboards, mice, remote controls, touch pads, or voice control devices.

[0162] The memory 310 includes at least one type of readable storage medium, and the readable storage medium includes a non-volatile memory or a volatile memory, such as a flash memory, a hard disk, a multimedia card, a card-type memory (such as an SD or DX memory, etc.), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc., and the RAM may include a static RAM or a dynamic RAM. In some embodiments, the memory 310 may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 310 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash card (Flash Card), etc., equipped on the computer device. Of course, the memory 310 may also include both an internal storage unit of the computer device and an external storage device thereof. In this embodiment, the memory 310 is generally used to store an operating system and various application software installed on the computer device, such as the program code of the above method, etc. In addition, the memory 310 may also be used to temporarily store various data that have been output or are to be output.

[0163] The processor 320 is generally used to perform the overall operation of the computer device. In this embodiment, the memory 310 is used to store program codes or instructions, the program code includes computer operation instructions, and the processor 320 is used to execute the program codes or instructions stored in the memory 310 or process data, such as running the program code of the above method.

[0164] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0165] Another embodiment of the present application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads a computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or a combination of steps in the above method; and generate a device for implementing the functional actions specified in each block or a combination of blocks in the block diagram.

[0166] Computer-readable media include but are not limited to electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any appropriate combination of the foregoing, the memory is used to store program codes or instructions, the program codes include computer operating instructions, and the processor is used to execute the program codes or instructions of the above methods stored in the memory.

[0167] For the definitions of memory and processor, please refer to the description of the aforementioned computer device embodiment and will not be repeated here.

[0168] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0170] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0171] In the claims, any reference symbols placed between brackets shall not be construed as limiting the claims. The word "comprising" described in the present application does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented with the aid of hardware comprising several different elements and with the aid of a suitably programmed computer. In a unit claim that lists a number of devices, several units of these devices may be embodied by the same hardware item. The use of first, second, and third, etc. does not indicate any order, and these words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0172] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for preprocessing synchronous satellite GNSS observation data, characterized in that: include: Acquire raw satellite data observed by a synchronous satellite GNSS, wherein the raw satellite data includes: measured pseudoranges and measured carrier phases corresponding to a plurality of epoch data points; Performing ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each of the epoch data points to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each of the epoch data points; Performing pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each of the epoch data points to obtain a smoothed corrected pseudorange corresponding to each of the epoch data points; Performing ambiguity resolution on the smoothed corrected pseudorange corresponding to each of the epoch data points to obtain an ambiguity resolution pseudorange corresponding to each of the epoch data points; Performing atomic clock frequency stability correction on the ambiguity resolved pseudorange and ionosphere corrected carrier phase corresponding to each of the epoch data points to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each of the epoch data points; Based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each of the epoch data points, abnormal point repair is performed on the plurality of epoch data points to obtain a preprocessing result of the original satellite data.

2. The method according to claim 1, characterized in that The step of performing ionospheric delay correction on the measured pseudorange and the measured carrier phase corresponding to each of the epoch data points to obtain the ionospheric corrected pseudorange and the ionospheric corrected carrier phase corresponding to each of the epoch data points comprises: Obtaining the ionospheric puncture point latitude and satellite altitude angle corresponding to each of the epoch data points; Determine the ionospheric delay time amount corresponding to each of the epoch data points based on the ionospheric puncture point latitude and the satellite altitude angle corresponding to each of the epoch data points; The ionospheric delay time amount corresponding to each of the epoch data points is respectively used to perform ionospheric delay correction on the measured pseudorange corresponding to each of the epoch data points, and the ionospheric delay time amount corresponding to each of the epoch data points is respectively used to perform ionospheric delay correction on the measured carrier phase corresponding to each of the epoch data points, so as to determine the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each of the epoch data points.

3. The method according to claim 1, characterized in that The performing ambiguity resolution on the smoothed corrected pseudorange corresponding to each of the epoch data points to obtain the ambiguity resolution pseudorange corresponding to each of the epoch data points includes: Get synchronous satellite ephemeris data; Determine an ambiguity resolution amount corresponding to each of the epoch data points based on the synchronous satellite ephemeris data and the smoothed corrected pseudorange corresponding to each of the epoch data points; The ambiguity resolution amount corresponding to each of the epoch data points is respectively used to perform ambiguity resolution on the smoothed corrected pseudorange corresponding to each of the epoch data points to determine the ambiguity resolution pseudorange corresponding to each of the epoch data points.

4. The method according to claim 1, characterized in that: The step of performing atomic clock frequency stability correction on the ambiguity resolution pseudorange and ionosphere corrected carrier phase corresponding to each epoch data point to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each epoch data point includes: Using the satellite clock error corresponding to each of the epoch data points, respectively, to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange corresponding to each of the epoch data points; The satellite clock error corresponding to each of the epoch data points is used to perform an atomic clock frequency stability correction on the ionospheric corrected carrier phase corresponding to each of the epoch data points, so as to determine the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each of the epoch data points.

5. The method according to claim 1, characterized in that The method of performing abnormal point repair on a plurality of epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each epoch data point to obtain the preprocessing result of the original satellite data includes: Determine a coarse jump abnormal point in a plurality of the epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each of the epoch data points; Determine cycle slip anomaly points in the plurality of epoch data points based on the atomic clock corrected carrier phase corresponding to each of the epoch data points; Determine clock jump abnormal points in the plurality of epoch data points based on the atomic clock corrected carrier phase corresponding to each of the epoch data points; The coarse slip anomaly point, the cycle slip anomaly point and the clock slip anomaly point are respectively repaired to obtain a preprocessing result of the original satellite data.

6. The method according to claim 5, characterized in that The determining of the coarse jump abnormal point in the plurality of epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each of the epoch data points comprises: Determine wide lane ambiguity data and ambiguity mean square data corresponding to each of the epoch data points based on the atomic clock corrected pseudorange and the atomic clock corrected carrier phase corresponding to each of the epoch data points; Determine the epoch data point whose wide lane ambiguity data or fuzzy mean square data satisfies the coarse jump preset condition among the plurality of epoch data points as the coarse jump abnormal point; The step of correcting the carrier phase of the atomic clock corresponding to each of the epoch data points and determining the cycle slip abnormal points in the plurality of the epoch data points comprises: Determine the epoch data point whose wide lane ambiguity data or fuzzy mean square data satisfies a preset cycle slip condition among the plurality of epoch data points as the cycle slip abnormal point; The step of correcting the carrier phase of the atomic clock corresponding to each of the epoch data points and determining the clock jump abnormal points in the plurality of the epoch data points comprises: Correcting the carrier phase based on the atomic clock corresponding to each of the epoch data points, respectively, to determine a carrier measurement deviation value between each of the epoch data points and an adjacent data point; The epoch data point corresponding to the carrier measurement deviation value satisfying the clock jump preset condition among the plurality of epoch data points is determined as the clock jump abnormal point.

7. The method according to claim 5, characterized in that The performing outlier repair on the coarse slip anomaly point, the cycle slip anomaly point and the clock slip anomaly point respectively to obtain the preprocessing result of the original satellite data includes: Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the coarse jump abnormal point, the atomic clock corrected pseudorange corresponding to the coarse jump abnormal point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the coarse jump abnormal point, the atomic clock corrected carrier phase corresponding to the coarse jump abnormal point is smoothed; Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the cycle slip abnormal point, the atomic clock corrected pseudorange corresponding to the cycle slip abnormal point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the cycle slip abnormal point, the atomic clock corrected carrier phase corresponding to the cycle slip abnormal point is smoothed; Based on the atomic clock corrected pseudorange corresponding to the adjacent data points of the clock jump anomaly point, the atomic clock corrected pseudorange corresponding to the clock jump anomaly point is smoothed, and based on the atomic clock corrected carrier phase corresponding to the adjacent data points of the clock jump anomaly point, the atomic clock corrected carrier phase corresponding to the clock jump anomaly point is smoothed.

8. A preprocessing device for synchronous satellite GNSS observation data, characterized in that: include: An acquisition module is used to acquire raw satellite data observed by a synchronous satellite GNSS, wherein the raw satellite data includes: measured pseudoranges and measured carrier phases corresponding to a plurality of epoch data points; A first correction module is used to perform ionospheric delay correction on the measured pseudorange and measured carrier phase corresponding to each of the epoch data points to obtain the ionospheric corrected pseudorange and ionospheric corrected carrier phase corresponding to each of the epoch data points; A processing module, configured to perform pseudorange smoothing processing on the ionospheric corrected pseudorange corresponding to each of the epoch data points to obtain a smoothed corrected pseudorange corresponding to each of the epoch data points; A solution module, used for performing ambiguity solution on the smoothed corrected pseudorange corresponding to each of the epoch data points, to obtain the ambiguity solution pseudorange corresponding to each of the epoch data points; A second correction module is used to perform atomic clock frequency stability correction on the ambiguity resolution pseudorange and ionosphere corrected carrier phase corresponding to each of the epoch data points to obtain the atomic clock corrected pseudorange and atomic clock corrected carrier phase corresponding to each of the epoch data points; The repair module is used to repair abnormal points of the multiple epoch data points based on the atomic clock-corrected pseudorange and the atomic clock-corrected carrier phase corresponding to each epoch data point, so as to obtain the preprocessing result of the original satellite data.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, a method for preprocessing synchronous satellite GNSS observation data as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for preprocessing synchronous satellite GNSS observation data as described in any one of claims 1 to 7 is implemented.

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