Correction method, device and equipment for transmission data of satellite

Abstract

The embodiment of the invention provides a correction method, device and equipment for transmission data of a satellite. The method comprises the following steps: acquiring a first tilt total electron content (STEC) observation value of a satellite; wherein the position area covered by the satellite comprises a plurality of grid points, and the position area comprises a plurality of modeling stations and at least one monitoring station; and correcting transmission data of the satellite according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station. The method is used for achieving the effect of improving the positioning precision.

Description

Technical Field

[0001] The present application relates to the fields of satellite communication technology and navigation technology, and in particular to a method, device and equipment for correcting satellite transmission data. Background Art

[0002] Data is transmitted from satellites to ground devices, and the terminal is positioned through the data transmitted by the satellite. The earth has an ionosphere. In the process of transmitting data from satellites to ground devices, the data needs to pass through the ionosphere to be transmitted to the ground devices; because there are electrons in the ionosphere, the ionosphere will affect the transmission of data, for example, affecting the transmission path of the data. As a result, the data is inaccurate.

[0003] Furthermore, there is an urgent need for a solution that can correct the data transmitted by the satellite. Summary of the invention

[0004] The embodiments of the present application provide a method, device and equipment for correcting satellite transmission data, so as to achieve the effect of improving positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a method for correcting satellite transmission data, comprising:

[0006] A first inclined total electron content (STEC) observation value of the satellite is obtained; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station.

[0007] The transmission data of the satellite is corrected according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

[0008] In a possible implementation, the transmission data of the satellite is corrected according to the first position information of the modeling station, the first STEC observation value, and the second position information of the monitoring station, including:

[0009] The accuracy information of the grid points is determined according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: internal conformity accuracy of the grid points, inverse interpolation accuracy of the grid points, and external conformity accuracy of the grid points.

[0010] The transmission data of the satellite is corrected according to the accuracy information of the grid points.

[0011] In a possible implementation, determining the accuracy information of the grid point according to the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station includes:

[0012] A first position distance matrix is ​​determined based on the position distance between the first position information and the preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center; and a second position distance matrix is ​​determined based on the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center.

[0013] Ionospheric model parameters are determined according to the first position distance matrix and the first STEC observation value.

[0014] The inner conformity accuracy of the grid points is determined according to the ionospheric model parameters and the second position distance matrix; the inverse interpolation accuracy of the grid points is determined according to the ionospheric model parameters and the first position distance matrix; and the outer conformity accuracy of the grid points is determined according to the ionospheric model parameters, the third position information of the grid points and the second position information of the monitoring station.

[0015] In a possible implementation, determining ionospheric model parameters according to the first position distance matrix and the first STEC observation value includes:

[0016] An ionospheric fitting model observation equation of the satellite is established according to the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes ionospheric model parameters to be solved.

[0017] The ionosphere fitting model observation equation of the satellite is solved to obtain the ionosphere model parameters.

[0018] In a possible implementation, determining the internal conformity accuracy of the grid points according to the ionospheric model parameters and the second position distance matrix includes:

[0019] A correction number is determined according to the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; and the first STEC calculation value is the calculated STEC value of the satellite.

[0020] The model standard deviation of the satellite is determined according to the correction number and a preset degree of freedom parameter.

[0021] The internal conformity accuracy of the grid points is determined according to the first position distance matrix, the second position distance matrix and the model standard deviation.

[0022] In a possible implementation, the internal accuracy of the grid points is

[0023] Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

[0024] In a possible implementation, determining the inverse interpolation accuracy of the grid points according to the ionospheric model parameters and the first position distance matrix includes:

[0025] Performing inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain an ionospheric grid residual item;

[0026] According to the ionospheric model parameters, the ionospheric grid residual term and the first position distance matrix, the third STEC calculated value of the modeling station is determined; and the third STEC observed value of the modeling station is determined; according to the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point, the inverse interpolation accuracy of the grid point is determined.

[0027] In one possible implementation, determining a third STEC observation value of the modeling station includes:

[0028] Acquire first observation data sent by the satellite to the modeling station.

[0029] The first observation data is processed to obtain a third STEC observation value of the modeling station.

[0030] In a possible implementation, the inverse interpolation accuracy of the grid points is

[0031] Wherein, N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

[0032] In a possible implementation, determining the external coincidence accuracy of the grid point according to the ionospheric model parameter, the third position information of the grid point, and the second position information of the monitoring station includes:

[0033] Performing inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain the ionospheric grid residual item;

[0034] Determining a fourth STEC calculated value of the monitoring station according to the ionospheric model parameter, the ionospheric grid residual term and the second position information of the monitoring station;

[0035] The external conformity accuracy of the grid point is determined according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

[0036] In one possible implementation, determining a fourth STEC observation value of the monitoring station includes:

[0037] Acquire second observation data sent by the satellite to the monitoring station.

[0038] The second observation data is processed to obtain a fourth STEC observation value of the monitoring station.

[0039] In a possible implementation, determining the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point includes:

[0040] The difference between the fourth STEC calculated value and the fourth STEC observed value of the monitoring station is determined to obtain the STEC difference of the monitoring station; and the mean information is obtained according to the average value of the STEC difference of each monitoring station.

[0041] The difference between the STEC difference value of the monitoring station and the value represented by the mean information is determined as the STEC correction value of the monitoring station.

[0042] The external conformity accuracy of the grid points is determined based on the STEC correction value of each monitoring station.

[0043] In a possible implementation, the outer conformity accuracy of the grid points is

[0044] Wherein, M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

[0045] In a possible implementation manner, the transmission data of the satellite is corrected according to the accuracy information of the grid point, including:

[0046] Determine the STEC change rate of the satellite; wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period; and determine the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point.

[0047] The transmission data of the satellite is corrected according to the STEC quality factor of the grid point.

[0048] In a possible implementation, determining the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point includes:

[0049] The internal conformity accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external conformity accuracy of the grid points are weightedly calculated to obtain the STEC accuracy of the grid points.

[0050] The STEC quality factor of the grid point is determined according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

[0051] In a possible implementation, determining the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point includes:

[0052] The standard deviation of the STEC change rate is determined; and a preset weighting function is used to perform weighted calculation on the standard deviation of the STEC change rate to obtain a change factor of the STEC change rate.

[0053] The STEC quality factor of the grid point is determined according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

[0054] In a possible implementation, obtaining a first inclined total electron content (STEC) observation value of the satellite includes:

[0055] The first observation data collected by the modeling station are obtained, and the first observation data are processed to obtain the first STEC observation value.

[0056] In a second aspect, an embodiment of the present application provides a device for correcting satellite transmission data, wherein the device is specifically used to:

[0057] An acquisition module is used to acquire a first inclined total electron content (STEC) observation value of the satellite; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station.

[0058] The correction module is used to correct the transmission data of the satellite according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

[0059] In a possible implementation manner, the correction module is specifically used to:

[0060] A determination module is used to determine the accuracy information of the grid points according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: internal conformity accuracy of the grid points, inverse interpolation accuracy of the grid points, and external conformity accuracy of the grid points.

[0061] The correction submodule is used to correct the transmission data of the satellite according to the accuracy information of the grid points.

[0062] In a possible implementation manner, the determining module is specifically configured to:

[0063] The first determination module is used to determine a first position distance matrix according to the position distance between the first position information and a preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center.

[0064] The second confirmation module is used to determine a second position distance matrix according to the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center.

[0065] The third confirmation module is used to determine ionospheric model parameters according to the first position distance matrix and the first STEC observation value.

[0066] The fourth confirmation module is used to determine the internal conformity accuracy of the grid points according to the ionosphere model parameters and the second position distance matrix; and to determine the inverse interpolation accuracy of the grid points according to the ionosphere model parameters and the first position distance matrix; and to determine the external conformity accuracy of the grid points according to the ionosphere model parameters, the second position distance matrix and the second position information of the monitoring station.

[0067] In a possible implementation manner, the third confirmation module is specifically configured to:

[0068] An establishment module is used to establish an ionospheric fitting model observation equation of the satellite according to the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes ionospheric model parameters to be solved.

[0069] The solution module is used to solve the observation equation of the ionosphere fitting model of the satellite to obtain the ionosphere model parameters.

[0070] In a possible implementation manner, the fourth confirmation module is specifically configured to:

[0071] The first confirmation submodule is used to determine a correction number according to the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; and the first STEC calculation value is the calculated STEC value of the satellite.

[0072] The second confirmation submodule is used to determine the model standard deviation of the satellite according to the correction number and the preset degree of freedom parameter.

[0073] The third confirmation submodule is used to determine the internal conformity accuracy of the grid points according to the first position distance matrix, the second position distance matrix and the model standard deviation.

[0074] In a possible implementation, the internal accuracy of the grid points is

[0075] Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

[0076] In a possible implementation manner, the fourth confirmation module is further configured to:

[0077] The fourth confirmation submodule is used to perform inverse distance weighted processing on the correction number, the first position information of the modeling station and the third position information of the grid point to obtain an ionospheric grid residual item.

[0078] A fifth confirmation submodule is used to determine a third STEC calculated value of the modeling station according to the ionospheric model parameters, the ionospheric grid residual term and the first position distance matrix; and determine a third STEC observed value of the modeling station.

[0079] The sixth confirmation submodule is used to determine the inverse interpolation accuracy of the grid point according to the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point.

[0080] In one possible implementation, determining a third STEC observation value of the modeling station is specifically used for:

[0081] The first acquisition submodule is used to acquire first observation data sent by the satellite to the modeling station.

[0082] The first processing submodule is used to process the first observation data to obtain a third STEC observation value of the modeling station.

[0083] In a possible implementation, the inverse interpolation accuracy of the grid points is

[0084] Wherein, N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

[0085] In a possible implementation manner, the fourth confirmation module is further configured to:

[0086] The seventh confirmation submodule performs inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain the ionospheric grid residual item.

[0087] An eighth confirmation submodule determines a fourth STEC calculation value of the monitoring station according to the ionospheric model parameters, the ionospheric grid residual term and the second location information of the monitoring station.

[0088] The ninth confirmation submodule is used to determine the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

[0089] In one possible implementation, determining a fourth STEC observation value of the monitoring station is specifically used for:

[0090] The second acquisition submodule is used to acquire second observation data sent by the satellite to the monitoring station.

[0091] The second processing submodule is used to process the second observation data to obtain a fourth STEC observation value of the monitoring station.

[0092] In a possible implementation manner, the ninth confirmation submodule is specifically configured to:

[0093] The calculation module is used to determine the difference between the fourth STEC calculated value and the fourth STEC observed value of the monitoring station to calculate the STEC difference of the monitoring station; and calculate the mean information according to the average value of the STEC difference of each monitoring station; and determine the difference between the STEC difference of the monitoring station and the value represented by the mean information as the STEC correction value of the monitoring station.

[0094] The tenth confirmation submodule is used to determine the external conformity accuracy of the grid points according to the STEC correction value of each monitoring station.

[0095] In a possible implementation, the outer conformity accuracy of the grid points is

[0096] Wherein, M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

[0097] In a possible implementation manner, the correction submodule is specifically used to:

[0098] a sixth confirmation module, configured to determine the STEC change rate of the satellite, wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period; and to determine the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point.

[0099] The first correction submodule corrects the transmission data of the satellite according to the STEC quality factor of the grid point.

[0100] In a possible implementation manner, the sixth confirmation module is specifically configured to:

[0101] The third processing submodule is used to perform weighted calculation processing on the inner conformity accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the outer conformity accuracy of the grid points to obtain the STEC accuracy of the grid points.

[0102] An eleventh confirmation submodule is used to determine the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

[0103] In a possible implementation manner, the eleventh confirmation submodule is specifically configured to:

[0104] The fourth processing submodule is used to determine the standard deviation of the STEC change rate; and perform weighted calculation on the standard deviation of the STEC change rate using a preset weighting function to obtain a change factor of the STEC change rate.

[0105] A twelfth confirmation submodule is used to determine the STEC quality factor of the grid point according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

[0106] In a possible implementation manner, the acquisition module is specifically configured to:

[0107] The fifth processing submodule is used to obtain the first observation data collected by the modeling station, and process each of the first observation data to obtain the first STEC observation value.

[0108] In a third aspect, an embodiment of the present application provides a device for correcting transmission data of a satellite, including: a memory, a processor;

[0109] The memory stores computer executable instructions.

[0110] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0111] The embodiments of the present application provide a method, device and equipment for correcting the transmission data of a satellite. First, the STEC observation value of the satellite transmission is obtained, which reflects the total amount of electrons experienced by the satellite signal when passing through the ionosphere, and is a key parameter for evaluating the degree of influence of the ionosphere on the satellite signal. Next, the geographical area covered by the satellite is determined, and the area contains multiple grid points for building an ionosphere model. At the same time, multiple modeling stations and at least one monitoring station are set up in the area. The modeling station is responsible for providing location information and STEC observation values ​​for establishing an ionosphere model; the monitoring station provides location information and related observation data for verifying and correcting the accuracy of the ionosphere model. Then, the satellite's transmission data is accurately corrected using the location information of the modeling station, the STEC observation values ​​and the location information of the monitoring station. This method aims to reduce the impact of the ionosphere on satellite navigation positioning, and to effectively reduce the error of the ionosphere on the satellite navigation positioning results, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0112] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0113] Figure 1 A schematic diagram of a method for correcting satellite transmission data provided in an embodiment of the present application Figure 1 ;

[0114] Figure 2 A schematic diagram of a method for correcting satellite transmission data provided in an embodiment of the present application Figure 2 ;

[0115] Figure 3 A schematic flow chart of step S202 in a method for correcting satellite transmission data provided in an embodiment of the present application;

[0116] Figure 4 A schematic flow chart of step S203 in a method for correcting satellite transmission data provided in an embodiment of the present application;

[0117] Figure 5 A schematic diagram of a satellite transmission data correction device provided in an embodiment of the present application Figure 1 ;

[0118] Figure 6 A schematic diagram of a satellite transmission data correction device provided in an embodiment of the present application Figure 2 ;

[0119] Figure 7 A schematic diagram of the structure of a satellite transmission data correction device provided in an embodiment of the present application.

[0120] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0121] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0122] In the Global Navigation Satellite System (GNSS), ionospheric delay is an important source of error. The so-called ionospheric delay means that when a satellite transmits a satellite signal to the ground, it will pass through the earth's atmosphere; the earth's atmosphere includes the ionosphere; when the satellite signal passes through the ionosphere, it will be interfered by the electrons in the ionosphere, which will cause the propagation path of the satellite signal to change, and then produce the propagation delay of the satellite signal, which will affect the accuracy of positioning. Therefore, it is necessary to derive the error caused by the ionospheric delay in order to correct the positioning result.

[0123] The calculation of ionospheric delay is achieved by establishing an ionospheric model. In the ionospheric model, the slant total electron content (STEC) corresponding to each satellite is included, that is, the total electron content of the path from the satellite to the receiver corresponding to each satellite. The STEC corresponding to each satellite is usually input into a filter (e.g., a Kalman filter) to obtain an estimated value of the ionospheric delay. In the process of the filter processing ionospheric delay estimation, the prior art generally uses the total electron content (TEC) data provided by the Global Ionosphere Model (GIM) model as the key input. However, this method has a significant limitation, that is, it fails to fully consider the changes in the activity of the ionosphere. The active state of the ionosphere is affected by a variety of complex factors such as solar radiation intensity and geomagnetic activity level, which are often not fully and accurately reflected in the TEC data provided by the GIM model. Therefore, when the ionosphere is in a highly active state, the ionospheric delay estimate based on the GIM model TEC data may have a large deviation from the actual value. This deviation will further lead to inaccurate satellite navigation positioning results, reduce positioning accuracy and reliability, and thus cause a series of potential problems in practical applications.

[0124] Therefore, the present application provides a method, device and equipment for correcting satellite transmission data to solve the above problems.

[0125] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0126] Figure 1A schematic diagram of a method for correcting satellite transmission data provided in an embodiment of the present application Figure 1 ,like Figure 1 As shown, the method includes:

[0127] S101. Obtain a first inclined total electron content (STEC) observation value of a satellite; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station.

[0128] Exemplarily, first clarify the area where the grid system needs to be established, and use the upper left corner of the area as the starting position of the grid point, which is the reference point for establishing the grid system; starting from the reference point of the grid system, grid lines are drawn horizontally and vertically respectively. The interval of the grid lines can be set according to actual needs, and this interval will determine the density and accuracy of the grid; and so on, until the entire selected area is covered to form a complete grid system. In the grid system, multiple modeling stations should be included for collecting and processing satellite observation data to establish an ionosphere model. Among them, the modeling station is a station that participates in the establishment of the ionosphere model. In the grid system, at least one monitoring station may also be included to provide additional data support. The monitoring station does not participate in the establishment of the ionosphere model, but can be used to verify and monitor the effect of the ionosphere model. Taking a satellite as a reference point, the satellite should be located above the selected area and be able to be observed by the modeling station. The STEC observations of the satellite are obtained by using the Precise Point Positioning-Ambiguity Resolution (PPP-AR) technology in the Precise Point Positioning (PPP) technology. PPP-AR technology is a high-precision positioning technology that can separate most error sources, including ionospheric delay. The STEC observations obtained by this technology have high accuracy and reliability; the tilted total electron content (STEC) value mainly reflects the total electron content when passing through the ionosphere on the path between the modeling station and the satellite.

[0129] S102: Correct the satellite transmission data according to the first position information of the modeling station, the first STEC observation value, and the second position information of the monitoring station.

[0130] Exemplarily, the first position information of the modeling station refers to the longitude and latitude of the modeling station; the first STEC observation value refers to the STEC observation value of the satellite, which is obtained by PPP-AR technology; the second position information of the monitoring station refers to the longitude and latitude of the monitoring station. According to the longitude and latitude of the modeling station and the longitude and latitude of the regional center, the first position distance matrix is ​​determined; according to the longitude and latitude of the grid point and the longitude and latitude of the regional center, the second position distance matrix is ​​determined; according to the first position distance matrix and the first STEC observation value, the ionosphere model parameters are determined; according to the ionosphere model parameters and the second position distance matrix, the inner conformity accuracy of the grid point is determined; and according to the ionosphere model parameters and the first position distance matrix, the inverse interpolation accuracy of the grid point is determined; according to the ionosphere model parameters, the third position information of the grid point and the second position information of the monitoring station, the outer conformity accuracy of the grid point is determined; according to the STEC change rate, the change factor of the STEC change rate is determined. The internal accuracy, inverse interpolation accuracy and external accuracy of the grid point are used as additive factors, and the change factor of the STEC change rate is used as a multiplicative factor. The STEC quality factor of the grid point is calculated through a certain formula. This quality factor comprehensively reflects the uncertainty of ionospheric delay modeling. The STEC quality factor of the grid point is used as a weight to make a more accurate correction to the ionospheric delay. The larger the weight, the more reliable the ionospheric delay modeling at the grid point. By correcting the ionospheric delay, the positioning accuracy of the satellite navigation system can be improved to the centimeter level or even higher.

[0131] The embodiment of the present application provides a method for correcting the transmission data of a satellite. First, the STEC observation value of the satellite transmission is obtained. This value reflects the total amount of electrons experienced by the satellite signal when passing through the ionosphere, and is a key parameter for evaluating the degree of influence of the ionosphere on the satellite signal. Next, the geographical area covered by the satellite is determined, and the area contains multiple grid points for building an ionosphere model. At the same time, multiple modeling stations and at least one monitoring station are set up in the area. The modeling station is responsible for providing location information and STEC observation values ​​for establishing an ionosphere model; the monitoring station provides location information and related observation data for verifying and correcting the accuracy of the ionosphere model. Then, the satellite's transmission data is accurately corrected using the location information of the modeling station, the STEC observation value, and the location information of the monitoring station. This method aims to reduce the impact of the ionosphere on satellite navigation positioning, and to effectively reduce the error of the ionosphere on the satellite navigation positioning results, thereby improving the positioning accuracy.

[0132] Figure 2 A schematic diagram of a method for correcting satellite transmission data provided in an embodiment of the present application Figure 2 ,like Figure 2 As shown, the method includes:

[0133] S201, acquiring first observation data collected by a modeling station, and processing each first observation data to obtain a first STEC observation value; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station.

[0134] For example, according to the needs of ionospheric research or application, a specific geographical area is determined as the research scope. The research area is divided into several equidistant two-dimensional rectangular grids. The size and shape of these grids can be set according to the characteristics and needs of the research area. According to the needs of ionospheric research or application, one or more satellites are selected as reference objects. A receiver capable of receiving GNSS signals, such as a dual-frequency GPS receiver, is configured at each modeling station. The receiver should be able to record observations such as pseudorange and carrier phase of the satellite as well as information such as the satellite's ephemeris and clock error. The received satellite data is processed using PPP-AR technology. First, the received observation data is screened and cleaned to remove outliers and noise; cycle slip detection and repair are performed to ensure data continuity; satellite data is quality controlled, including corrections of satellite orbit errors, receiver noise, etc. According to the PPP principle, a mathematical model containing parameters such as receiver position, satellite orbit, clock error, ionospheric delay, etc. is constructed; phase fractional deviation products are introduced for fixing ambiguity; floating point ambiguity is fixed using search and verification methods such as the LAMBDA algorithm. The PPP-AR technique can accurately estimate the ionospheric delay, and based on the estimated ionospheric delay and the geometric relationship between the satellite and the receiver, the STEC observation value can be calculated.

[0135] S202. Determine the accuracy information of the grid points according to the first position information of the modeling station, the first STEC observation value, and the second position information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: internal conformity accuracy of the grid points, inverse interpolation accuracy of the grid points, and external conformity accuracy of the grid points.

[0136] In one example, Figure 3 A schematic diagram of the flow of step S202 in a method for correcting satellite transmission data provided in an embodiment of the present application, such as Figure 3 As shown, step S202 includes:

[0137] S2021. Determine a first position distance matrix based on the position distance between the first position information and the preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center.

[0138] S2022. Determine a second position distance matrix according to the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center.

[0139] S2023. Determine ionospheric model parameters according to the first position distance matrix and the first STEC observation value.

[0140] S2024. Determine the internal conformity accuracy of the grid points based on the ionospheric model parameters and the second position distance matrix.

[0141] S2025. Determine the inverse interpolation accuracy of the grid points according to the ionospheric model parameters and the first position distance matrix.

[0142] S2026. Determine the external conformity accuracy of the grid points based on the ionospheric model parameters, the third position information of the grid points, and the second position information of the monitoring station.

[0143] Exemplarily, the internal accuracy refers to the degree of dispersion between the true value and the calculated value, that is, precision, which is generally measured by mean error or standard deviation. The inverse interpolation accuracy and the external accuracy refer to the degree of deviation between the true value and the calculated value, that is, accuracy, which is generally measured by the root mean square (RMS) of the error. The external accuracy reflects the actual credibility of the positioning result. The difference is that the inverse interpolation accuracy is calculated using satellite data obtained by the modeling station, while the external accuracy is calculated using satellite data obtained by the monitoring station.

[0144] Exemplarily, the first position information refers to the longitude and latitude values ​​of the modeling station corresponding to the satellite. The preset position center position refers to the longitude and latitude values ​​of the center point of the grid area. The longitude and latitude values ​​of the modeling station corresponding to the satellite are subtracted from the longitude and latitude values ​​of the center point of the grid area, and the first position distance matrix is ​​constructed using the difference. The first position distance matrix is ​​an n×h matrix, where n refers to the number of modeling stations corresponding to the satellite, and h refers to the use of h different ways (usually in the form of products) to process these differences to construct the matrix. Assuming that there are n modeling stations, 4 different ways are used to construct the matrix in the following way: the first column (n elements): the product of the longitude difference and the latitude difference; the second column (n elements): the longitude difference (directly used as the element value, without any operation); the third column (n elements): the latitude difference (also directly used as the element value); the fourth column (n elements): all 1.

[0145] Exemplarily, the third position information of the grid point refers to the longitude and latitude values ​​of the grid point. The preset position center position refers to the longitude and latitude values ​​of the center point of the grid area. The longitude and latitude values ​​of the grid point are subtracted from the longitude and latitude values ​​of the center point of the grid area, and the difference is used to construct the second position distance matrix. The second position distance matrix is ​​a 1×h matrix, where 1 refers to a grid point and h refers to the dimension of the constructed matrix. Taking a grid point as a reference point, a 1×4 matrix can be constructed in the following manner: first column (1 element): product of longitude difference and latitude difference; second column (1 element): longitude difference (directly used as element value, without any operation); third column (1 element): latitude difference (also directly used as element value); fourth column (1 element): all 1.

[0146] Exemplarily, according to the first position distance matrix and the first STEC observation value, the ionospheric model parameters are solved by establishing an ionospheric fitting model observation equation of the satellite.

[0147] In one example, S2023 includes the following process: establishing an ionosphere fitting model observation equation of the satellite based on the first position distance matrix and the first STEC observation value; wherein the ionosphere fitting model observation equation includes ionosphere model parameters to be solved; solving the ionosphere fitting model observation equation of the satellite to obtain the ionosphere model parameters.

[0148] Exemplarily, the observation equation of the satellite's ionosphere fitting model is established, the first position distance matrix is ​​multiplied by the satellite's ionosphere model parameter to obtain the satellite's STEC calculation value, the satellite's STEC calculation value is subtracted from the satellite's STEC observation value to obtain the satellite's STCE value correction number, the correction number represents the deviation between the satellite's STEC calculation value and the observation value, the smaller the value, the better. The observation equation of the ionosphere fitting model is:

[0149]

[0150] in, is the first position distance matrix, i.e., the design matrix related to the longitude and latitude differences between the satellite modeling station and the regional center; are parameters to be solved, i.e., ionosphere model parameters, which are parameters of the ionosphere model used to process satellite transmission data; is the first STEC observation, i.e., the STEC observation of the modeling station corresponding to the satellite; is the correction factor, which is the parameter to be solved and represents the deviation between the satellite's STEC calculated value and the observed value.

[0151] For each satellite, there is a corresponding ionospheric fitting model observation equation. Therefore, combining each equation, with v2 The minimum sum is the constraint condition. According to the principle of solving overdetermined equations, the ionospheric model parameters can be solved. Naturally, the corrections for each satellite So we need to solve it.

[0152] Exemplarily, the ionospheric model parameters are solved and substituted into each ionospheric fitting model observation equation to obtain the satellite correction number; based on the correction number, the model standard deviation is solved; and the grid point-to-ground conformity accuracy is determined through the standard deviation, the first position distance matrix and the second position distance matrix.

[0153] In one example, step S2024 includes the following process:

[0154] The first step of step S2024 is to determine a correction number according to the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; and the first STEC calculation value is the calculated STEC value of the satellite.

[0155] The second step of step S2024 is to determine the model standard deviation of the satellite according to the correction number and the preset degree of freedom parameter.

[0156] The third step of step S2024 is to determine the internal conformity accuracy of the grid points according to the first position distance matrix, the second position distance matrix and the model standard deviation.

[0157] In one example, the internal accuracy of the grid points is Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

[0158] Exemplarily, by combining each ionospheric fitting model observation equation, a correction number is solved, and the correction number represents the deviation between the satellite's STEC calculated value and the satellite's STEC observed value.

[0159] For example, to determine the model standard deviation of the satellite, the calculation formula can be expressed as:

[0160] Where, v is the correction number; v T is the transpose of the correction number v; f is the degree of freedom of the least squares equation.

[0161] For example, the internal accuracy of the grid points is, and the calculation formula can be expressed as:

[0162] Among them, m0 is the model standard deviation corresponding to the satellite; A is the second position distance matrix; A Tis the transpose of the second position distance matrix; B is the first position distance matrix; B T is the transpose of the first position distance matrix.

[0163] In one example, step S2025 includes the following process:

[0164] The first step of step S2025 is to perform inverse distance weighted processing on the correction number, the first position information of the modeling station and the third position information of the grid point to obtain the ionospheric grid residual term.

[0165] The second step of step S2025 is to determine the third STEC calculation value of the modeling station according to the ionospheric model parameters, the ionospheric grid residual term and the first position distance matrix.

[0166] The third step of step S2025 is to determine a third STEC observation value of the modeling station.

[0167] The fourth step of step S2025 is to determine the inverse interpolation accuracy of the grid points according to the third STEC calculated values ​​and the third STEC observed values ​​of each modeling station corresponding to the grid points.

[0168] In one example, the third step of step S2025 includes: acquiring first observation data sent by the satellite to the modeling station; and processing the first observation data to obtain a third STEC observation value of the modeling station.

[0169] In one example, the inverse interpolation accuracy of the grid points is

[0170] Where N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

[0171] Exemplarily, Inverse Distance Weighting (IDW) is a commonly used spatial interpolation method. Its basic idea is that the closer the point is, the greater the influence on the target point is, so the weight should decrease with the increase of distance. In ionospheric modeling, inverse distance weighting processing can be used to infer the ionospheric parameters of the grid points based on the data of the modeling station. The correction number of the modeling station, the first position information and the third position information of the grid point are subjected to inverse distance weighting processing. Specifically, according to the distance from each modeling station to each grid point, the weight of each modeling station on the ionospheric parameters of the grid point is calculated, and then the ionospheric parameters on the grid point are inferred based on these weights and the correction number of the modeling station. After obtaining the ionospheric parameters on the grid point, it can be compared with the actual observation value to obtain the residual term. These residual terms can be used to evaluate the accuracy of the model and serve as the basis for subsequent model optimization.

[0172] Exemplarily, the ionospheric model parameters are multiplied by the first position distance matrix, and then the ionospheric grid residual term is added to obtain the third STEC calculation value of the modeling station.

[0173] Exemplarily, the first observation data sent by the satellite to the modeling station is obtained, and the first observation data includes but is not limited to the satellite's pseudorange, carrier phase and other observation quantities, satellite ephemeris and clock error and other information; the ionospheric delay can be accurately estimated through the PPP-AR technology. According to the estimation result of the ionospheric delay, combined with the geometric relationship between the satellite and the receiver, the third STEC observation value of the modeling station can be obtained.

[0174] For example, when calculating the inverse interpolation accuracy of the grid points, the grid points corresponding to the satellites are used as reference points. Within a certain range of the grid points, the differences between the STEC calculated values ​​of all modeling stations and the STEC observed values ​​of the modeling stations are calculated, and their RMS is calculated, which is the inverse interpolation accuracy of the grid points. The calculation formula can be expressed as:

[0175]

[0176] Where N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

[0177] In one example, step S2026 includes the following process:

[0178] The first step of step S2026 is to perform inverse distance weighted processing on the correction number, the first position information of the modeling station and the third position information of the grid point to obtain the ionospheric grid residual item.

[0179] The second step of step S2026 is to determine a fourth STEC calculated value of the monitoring station according to the ionospheric model parameters, the ionospheric grid residual term and the second position information of the monitoring station.

[0180] The third step of step S2026 is to determine a fourth STEC observation value of the monitoring station.

[0181] The fourth step of step S2026 is to determine the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

[0182] In one example, the third step of step S2026 includes: acquiring second observation data sent by the satellite to the monitoring station; and processing the second observation data to obtain a fourth STEC observation value of the monitoring station.

[0183] In one example, the fourth step of step S2026 includes: determining the difference between the fourth STEC calculated value and the fourth STEC observed value of the monitoring station to obtain the STEC difference of the monitoring station; and obtaining mean information according to the average value of the STEC differences of each monitoring station.

[0184] The difference between the STEC difference value of the monitoring station and the value represented by the mean information is determined as the STEC correction value of the monitoring station.

[0185] The external accuracy of the grid points is determined based on the STEC correction value of each monitoring station.

[0186] In one example, the outer accuracy of the grid points is

[0187] Where M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

[0188] Exemplarily, the calculation of the ionospheric grid residual term is shown in the example of the first step of step S2025, which will not be repeated here.

[0189] Exemplarily, the distance matrix of the monitoring station is determined according to the position distance between the second position information of the monitoring station and the preset position center; the second position information of the monitoring station refers to the longitude and latitude values ​​of the monitoring station corresponding to the satellite. The preset position center position refers to the longitude and latitude values ​​of the center point of the grid area. The longitude and latitude values ​​of the monitoring station corresponding to the satellite and the longitude and latitude values ​​of the center point of the grid area are subtracted, and the distance matrix of the monitoring station is constructed using the difference. The distance matrix of the monitoring station is an f×g matrix, where f refers to the number of monitoring stations corresponding to the satellite, and g refers to the use of g different ways (usually in the form of products) to process these differences to construct the matrix. Assuming that there are f modeling stations, 4 different ways are used to construct the matrix according to the following method: the first column (f elements): the product of the longitude difference and the latitude difference; the second column (f elements): the longitude difference (directly used as the element value, without any operation); the third column (f elements): the latitude difference (also directly used as the element value); the fourth column (f elements): all 1.

[0190] Exemplarily, the ionospheric model parameters are multiplied by the distance matrix of the monitoring station, and then the ionospheric grid residual term is added to obtain the fourth STEC calculation value of the monitoring station.

[0191] Exemplarily, the second observation data sent by the satellite to the monitoring station is obtained, and the second observation data includes but is not limited to the satellite's pseudorange, carrier phase and other observation quantities, satellite ephemeris and clock error and other information; the ionospheric delay can be accurately estimated through the PPP-AR technology. According to the estimation result of the ionospheric delay, combined with the geometric relationship between the satellite and the receiver, the fourth STEC observation value of the monitoring station can be obtained.

[0192] For example, since the monitoring station does not convert the STEC reference value (the conversion of the STEC reference value refers to normalizing the STEC calculation reference of all monitoring stations and satellites of the same GNSS system to the same reference satellite of the same monitoring station), there is a systematic deviation in the difference between the STEC calculation value and the STEC observation value of each monitoring station corresponding to each satellite. This systematic deviation is due to the difference in hardware and other aspects between the receivers of different monitoring stations, and there will be a difference in the differential code bias (DCB). In order to eliminate the influence of the DCB difference, the fourth STEC calculation value and the fourth STEC observation value of each monitoring station corresponding to the satellite are subtracted to obtain the STEC difference of the monitoring station; the STEC difference of each monitoring station is averaged to obtain the mean STEC difference of the monitoring station; and the STEC difference of the monitoring station is subtracted from the mean STEC difference of the monitoring station to obtain the STEC correction value of the monitoring station.

[0193] For example, when calculating the external accuracy of the grid point, the grid point corresponding to the satellite is used as the reference point. Within a certain range of the grid point, the STEC correction values ​​of all monitoring stations are obtained, and their RMS is calculated, which is the inverse interpolation accuracy of the grid point. The calculation formula can be expressed as:

[0194] Where M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

[0195] S203: Correct the satellite transmission data according to the accuracy information of the grid points.

[0196] In one example, Figure 4 A schematic diagram of the flow of step S203 in a method for correcting satellite transmission data provided in an embodiment of the present application, such as Figure 4 As shown, step S203 includes:

[0197] S2031. Determine the STEC change rate of the satellite; wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period.

[0198] S2032. Determine the STEC quality factor of the grid point based on the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point.

[0199] S2033. Correct the satellite transmission data based on the STEC quality factor of the grid point.

[0200] Exemplarily, the current moment is used as a reference point, and the past period of time is used as a sliding window to determine the STEC change rate of the satellite within the sliding window (a period of time may be one minute, five minutes, or ten minutes, which is not limited in this embodiment). The STEC quality factor of the grid point is determined based on the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point. The STEC change rate and the accuracy index of the grid point are comprehensively evaluated to specifically quantify the impact of different factors on the STEC quality factor. Based on the results of the comprehensive evaluation, a STEC quality factor is determined for each grid point.

[0201] Formulate correction strategies based on the STEC quality factors of the grid points and the mechanism of the impact of the ionosphere on the satellite signal. This includes but is not limited to adjusting the frequency, power, encoding method and other parameters of the satellite signal to reduce the impact of the ionosphere on the signal. Apply the correction strategy to the satellite's transmission data, which involves real-time adjustment of the satellite's transmission parameters, or post-processing the received data to correct the errors caused by the ionosphere. Evaluate the quality and performance of the corrected satellite transmission data. This can be achieved by comparing the data differences before and after the correction, analyzing the performance indicators of the communication or navigation system, etc.

[0202] In one example, step S2032 includes the following process:

[0203] The first step of step S2032 is to perform weighted calculation processing on the inner conformity accuracy of the grid points, the reverse interpolation accuracy of the grid points, and the outer conformity accuracy of the grid points to obtain the STEC accuracy of the grid points.

[0204] The second step of step S2032: Determine the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

[0205] In one example, the second step of step S2032 includes: determining the standard deviation of the STEC change rate; and performing weighted calculation on the standard deviation of the STEC change rate using a preset weighting function to obtain a change factor of the STEC change rate.

[0206] In one example, the second step of step S2032 further includes: determining the STEC quality factor of the grid point according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

[0207] For example, the STEC accuracy of the grid points is calculated. The calculation formula can be expressed as: STEC P =a·σ fit +b·σ inner +c·σ ex .

[0208] Among them, STEC P Characterizes the STEC accuracy of the grid points; σ fit is the internal accuracy of the grid points; σ inner is the grid point inverse interpolation accuracy; σ ex External conformity accuracy of grid points; a, b and c are the weights of internal conformity accuracy of model fitting, grid point reverse interpolation accuracy and external station monitoring accuracy, respectively, and their values ​​are verified by large sample test data.

[0209] For example, the second STEC value of the grid point is calculated by the following formula:

[0210] Among them, STEC d,k is the second STEC calculated value of the kth grid point; A is the second position distance matrix; is the ionospheric model parameter. Exemplarily, the change factor of the STEC change rate is calculated. First, the rate of change of the total electron content of the ionosphere (Rate Of Total Electron Content, ROT) is calculated. ROT is the rate of change of the second STEC calculated value of the grid point in two consecutive time epochs. The calculation formula can be expressed as:

[0211] Among them, STEC d,i represents the second STEC calculated value of the grid point at the i-th moment; STEC d,i-1 represents the second STEC calculated value of the grid point at time i-1; t i represents the epoch time of the i-th moment; t i-1 Represents the epoch time of the i-1th moment. ROT is a parameter describing the rate of change of STEC, usually in TECU / min.

[0212] Then, the ionospheric total electron content change rate index (Rate of Total Electron Content Index, ROTI) is calculated by ROT, and the calculation formula can be expressed as:

[0213] The unit of ROTI is TECU / min, and the symbol <·> means averaging. The averaging means averaging all ROT values ​​within a time sliding window.

[0214] Finally, the change factor of the STEC change rate is calculated. The ROTI value is converted into the ROTI factor through the mapping function f(ROTI) to obtain the change factor of the STEC change rate. The calculation formula can be expressed as: f(ROTI) = w3 ROTI 3 +w2·ROTI 2 +w1·ROTI+w0.

[0215] Where f(ROTI) represents the change factor of the STEC change rate; w i (i=0,1,2,3) are the mapping function coefficients obtained after fitting large sample data.

[0216] The STEC quality factor of the grid point is calculated by taking the internal conformity accuracy of the grid point, the reverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point as additive factors and the change factor of the STEC change rate as a multiplicative factor. The calculation formula can be expressed as: STEC QI = f(ROTI)·(a·σ fit +b·σinner +c·σ ex ).

[0217] The embodiment of the present application provides a method for correcting the transmission data of a satellite. The first position distance matrix is ​​determined according to the longitude and latitude of the modeling station and the longitude and latitude of the preset position center; the second position distance matrix is ​​determined according to the longitude and latitude of the grid point and the longitude and latitude of the preset position center; the ionosphere model parameters are determined according to the first position distance matrix and the first STEC observation value; the inner conformity accuracy of the grid point is determined according to the ionosphere model parameters and the second position distance matrix; and the reverse interpolation accuracy is determined according to the ionosphere model parameters and the first position distance matrix; the outer conformity accuracy of the grid point is determined according to the ionosphere model parameters, the third position information of the grid point and the second position information of the monitoring station; and the change factor of the STEC change rate is determined according to the STEC change rate. The inner conformity accuracy, reverse interpolation accuracy and outer conformity accuracy of the grid point are used as additive factors, and the change factor of the STEC change rate is used as a multiplicative factor, and the STEC quality factor of the grid point is calculated by a certain formula. This quality factor comprehensively reflects the uncertainty of ionosphere delay modeling. The STEC quality factor of the grid point is used as a weight to make a more accurate correction to the ionosphere delay. The larger the weight, the more reliable the ionospheric delay modeling at the grid point. By correcting the ionospheric delay, the positioning accuracy of the satellite navigation system can be improved to centimeter-level or even higher positioning accuracy.

[0218] Figure 5 A schematic diagram of a satellite transmission data correction device provided in an embodiment of the present application Figure 1 ,like Figure 5 As shown, a satellite transmission data correction device 50 provided in this embodiment includes:

[0219] An acquisition module 501 is used to acquire a first inclined total electron content (STEC) observation value of a satellite, wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station;

[0220] The correction module 502 is used to correct the satellite transmission data according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

[0221] The device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0222] Figure 6 A schematic diagram of a satellite transmission data correction device provided in an embodiment of the present application Figure 2 ,like Figure 6As shown, a satellite transmission data correction device 60 provided in this embodiment includes:

[0223] The acquisition module 61 is used to acquire a first inclined total electron content STEC observation value of the satellite; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station.

[0224] The correction module 62 is used to correct the satellite transmission data according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

[0225] In one example, the correction module 62 is specifically configured to:

[0226] The determination module 621 is used to determine the accuracy information of the grid points according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: the internal conformity accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external conformity accuracy of the grid points.

[0227] The correction submodule 622 is used to correct the satellite transmission data according to the accuracy information of the grid points.

[0228] In one example, the determination module 621 is specifically configured to:

[0229] The first determination module 6211 is used to determine a first position distance matrix according to the position distance between the first position information and the preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center.

[0230] The second confirmation module 6212 is used to determine a second position distance matrix according to the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center.

[0231] The third confirmation module 6213 is used to determine the ionospheric model parameters according to the first position distance matrix and the first STEC observation value.

[0232] The fourth confirmation module 6214 is used to determine the internal conformity accuracy of the grid points based on the ionospheric model parameters and the second position distance matrix; and to determine the reverse interpolation accuracy of the grid points based on the ionospheric model parameters and the first position distance matrix; and to determine the external conformity accuracy of the grid points based on the ionospheric model parameters, the third position information of the grid points and the second position information of the monitoring station.

[0233] In one example, the third confirmation module 6213 is specifically used to:

[0234] Establishing module 62131, used to establish the satellite's ionosphere fitting model observation equation according to the first position distance matrix and the first STEC observation value; wherein the ionosphere fitting model observation equation includes the ionosphere model parameters to be solved.

[0235] The solution module 62132 is used to solve the satellite's ionosphere fitting model observation equation to obtain ionosphere model parameters.

[0236] In one example, the fourth confirmation module 6214 is specifically configured to:

[0237] The first confirmation submodule 62141 is used to determine a correction number according to the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; and the first STEC calculation value is the calculated STEC value of the satellite.

[0238] The second confirmation submodule 62142 is used to determine the model standard deviation of the satellite according to the correction number and the preset degree of freedom parameter.

[0239] The third confirmation submodule 62143 is used to determine the internal conformity accuracy of the grid points according to the first position distance matrix, the second position distance matrix and the model standard deviation.

[0240] In one example, the internal accuracy of the grid points is

[0241] Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

[0242] In one example, the fourth confirmation module 6214 is further configured to:

[0243] The fourth confirmation submodule 62144 is used to perform inverse distance weighted processing on the correction number, the first position information of the modeling station and the third position information of the grid point to obtain the ionospheric grid residual term.

[0244] The fifth confirmation submodule 62145 is used to determine the third STEC calculated value of the modeling station according to the ionospheric model parameters, the ionospheric grid residual term and the first position distance matrix; and determine the third STEC observed value of the modeling station.

[0245] The sixth confirmation submodule 62146 is used to determine the inverse interpolation accuracy of the grid point according to the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point.

[0246] In one example, a third STEC observation value at a modeling station is determined, specifically for:

[0247] The first acquisition submodule 62152 is used to acquire the first observation data sent by the satellite to the modeling station.

[0248] The first processing submodule 62153 is used to process the first observation data to obtain a third STEC observation value of the modeling station.

[0249] In one example, the inverse interpolation accuracy of the grid points is

[0250] Where N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

[0251] In one example, the fourth confirmation module 6214 is specifically configured to:

[0252] The seventh confirmation submodule 62154 is used to perform inverse distance weighted processing on the correction number, the first position information of the modeling station and the third position information of the grid point to obtain the ionospheric grid residual term.

[0253] The eighth confirmation submodule 62155 determines a fourth STEC calculated value of the monitoring station according to the ionospheric model parameters, the ionospheric grid residual term and the second position information of the monitoring station; and determines a fourth STEC observed value of the monitoring station.

[0254] The ninth confirmation submodule 62156 is used to determine the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

[0255] In one example, determining a fourth STEC observation value of a monitoring station is specifically used for:

[0256] The second acquisition submodule 62157 is used to acquire the second observation data sent by the satellite to the monitoring station.

[0257] The second processing submodule 62158 is used to process the second observation data to obtain a fourth STEC observation value of the monitoring station.

[0258] In one example, the ninth confirmation submodule 62156 is specifically used to:

[0259] The calculation module 621561 is used to determine the difference between the fourth STEC calculated value and the fourth STEC observed value of the monitoring station, and calculate the STEC difference of the monitoring station; and calculate the mean information according to the average value of the STEC differences of each monitoring station; determine the difference between the STEC difference of the monitoring station and the value represented by the mean information as the STEC correction value of the monitoring station.

[0260] The tenth confirmation submodule 621562 is used to determine the external conformity accuracy of the grid points according to the STEC correction value of each monitoring station.

[0261] In one example, the outer accuracy of the grid points is

[0262] Where M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

[0263] In one example, the correction submodule 622 is specifically used to:

[0264] The sixth confirmation module 6221 is used to determine the STEC change rate of the satellite; wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period; and determine the STEC quality factor of the grid point based on the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point.

[0265] The first correction submodule 6222 corrects the satellite transmission data according to the STEC quality factor of the grid point.

[0266] In one example, the sixth confirmation module 6221 is specifically used to:

[0267] The third processing submodule 62211 is used to perform weighted calculation processing on the internal conformity accuracy of the grid points, the reverse interpolation accuracy of the grid points, and the external conformity accuracy of the grid points to obtain the STEC accuracy of the grid points.

[0268] The eleventh confirmation submodule 62212 is used to determine the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

[0269] In one example, the eleventh confirmation submodule 62212 is specifically used to:

[0270] The fourth processing submodule 622121 is used to determine the standard deviation of the STEC change rate; and use a preset weighting function to perform weighted calculation on the standard deviation of the STEC change rate to obtain a change factor of the STEC change rate.

[0271] The twelfth confirmation submodule 622122 is used to determine the STEC quality factor of the grid point according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

[0272] In one example, the acquisition module 61 is specifically used for:

[0273] The fifth processing submodule 611 is used to obtain the first observation data collected by the modeling station and process each first observation data to obtain a first STEC observation value.

[0274] The device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0275] Figure 7 A schematic diagram of the structure of a satellite transmission data correction device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 70 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the device 70 further includes a communication component 703. The processor 701, the memory 702 and the communication component 703 are connected via a bus 704.

[0276] In a specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0277] The specific implementation process of the processor 701 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0278] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0279] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0280] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0281] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for correcting satellite transmission data, characterized in that: The method comprises: Acquiring a first inclined total electron content (STEC) observation value of the satellite; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station; The transmission data of the satellite is corrected according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

2. The method according to claim 1, characterized in that The method further comprises: modifying the transmission data of the satellite according to the first position information of the modeling station, the first STEC observation value, and the second position information of the monitoring station, including: Determining the accuracy information of the grid points according to the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: internal conformity accuracy of the grid points, inverse interpolation accuracy of the grid points, and external conformity accuracy of the grid points; The transmission data of the satellite is corrected according to the accuracy information of the grid points.

3. The method according to claim 2, characterized in that Determining the accuracy information of the grid point according to the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station includes: Determine a first position distance matrix according to the position distance between the first position information and the preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center; and determine a second position distance matrix according to the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center; determining ionospheric model parameters based on the first position distance matrix and the first STEC observation value; The inner conformity accuracy of the grid points is determined according to the ionosphere model parameters and the second position distance matrix; the inverse interpolation accuracy of the grid points is determined according to the ionosphere model parameters and the first position distance matrix; and the outer conformity accuracy of the grid points is determined according to the ionosphere model parameters, the third position information of the grid points and the second position information of the monitoring station.

4. The method according to claim 3, characterized in that Determining ionospheric model parameters according to the first position distance matrix and the first STEC observation value includes: Establishing an ionospheric fitting model observation equation of the satellite according to the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes ionospheric model parameters to be solved; The ionosphere fitting model observation equation of the satellite is solved to obtain the ionosphere model parameters.

5. The method according to claim 3, characterized in that: Determining the internal conformity accuracy of the grid points according to the ionospheric model parameters and the second position distance matrix includes: Determining a correction number based on the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; the first STEC calculation value is the calculated STEC value of the satellite; Determining a model standard deviation of the satellite according to the correction number and a preset degree of freedom parameter; The internal conformity accuracy of the grid points is determined according to the first position distance matrix, the second position distance matrix and the model standard deviation.

6. The method according to claim 5, characterized in that The internal accuracy of the grid points is Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

7. The method according to claim 5, characterized in that Determining the inverse interpolation accuracy of the grid points according to the ionospheric model parameters and the first position distance matrix includes: Performing inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain an ionospheric grid residual item; Determining a third STEC calculated value of the modeling station according to the ionospheric model parameters, the ionospheric grid residual term, and the first position distance matrix; and determining a third STEC observed value of the modeling station; The inverse interpolation accuracy of the grid points is determined according to the third STEC calculated values ​​and the third STEC observed values ​​of each modeling station corresponding to the grid points.

8. The method according to claim 7, characterized in that Determining a third STEC observation value for the modeling station, comprising: Acquiring first observation data sent by the satellite to the modeling station; The first observation data is processed to obtain a third STEC observation value of the modeling station.

9. The method according to claim 7, characterized in that: The inverse interpolation accuracy of the grid points is Wherein, N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

10. The method according to claim 5, characterized in that Determining the external coincidence accuracy of the grid point according to the ionospheric model parameter, the third position information of the grid point, and the second position information of the monitoring station includes: Performing inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain the ionospheric grid residual item; Determining a fourth STEC calculated value of the monitoring station according to the ionospheric model parameter, the ionospheric grid residual term, and the second location information of the monitoring station; and determining a fourth STEC observed value of the monitoring station; The external conformity accuracy of the grid point is determined according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

11. The method according to claim 10, characterized in that Determining a fourth STEC observation value for the monitoring station, comprising: Acquiring second observation data sent by the satellite to the monitoring station; The second observation data is processed to obtain a fourth STEC observation value of the monitoring station.

12. The method according to claim 10, characterized in that Determining the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point, including: Determine the difference between the fourth STEC calculated value and the fourth STEC observed value of the monitoring station to obtain the STEC difference of the monitoring station; and obtain mean information based on the average of the STEC differences of each of the monitoring stations; Determine the difference between the STEC difference value of the monitoring station and the value represented by the mean information as the STEC correction value of the monitoring station; The external conformity accuracy of the grid points is determined based on the STEC correction value of each monitoring station.

13. The method according to claim 12, characterized in that The outer conformity accuracy of the grid points is Wherein, M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

14. The method according to any one of claims 2 to 13, characterized in that According to the accuracy information of the grid points, the transmission data of the satellite is corrected, including: Determine the STEC change rate of the satellite; wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period; and determine the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point; The transmission data of the satellite is corrected according to the STEC quality factor of the grid point.

15. The method according to claim 14, characterized in that Determining the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point includes: Performing weighted calculation processing on the inner conformity accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the outer conformity accuracy of the grid points to obtain the STEC accuracy of the grid points; The STEC quality factor of the grid point is determined according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

16. The method according to claim 15, characterized in that Determining the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point includes: Determining a standard deviation of the STEC change rate; and performing weighted calculation on the standard deviation of the STEC change rate using a preset weighting function to obtain a change factor of the STEC change rate; The STEC quality factor of the grid point is determined according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

17. The method according to any one of claims 1 to 13, characterized in that Obtaining a first inclined total electron content (STEC) observation value of the satellite, including: The first observation data collected by the modeling station are obtained, and the first observation data are processed to obtain the first STEC observation value.

18. A device for correcting satellite transmission data, characterized in that: The device is specifically used for: An acquisition module, used for acquiring a first inclined total electron content (STEC) observation value of the satellite; wherein the location area covered by the satellite includes a plurality of grid points, and the location area includes a plurality of modeling stations and at least one monitoring station; The correction module is used to correct the transmission data of the satellite according to the first position information of the modeling station, the first STEC observation value and the second position information of the monitoring station.

19. The device according to claim 18, characterized in that The correction module is specifically used for: A determination module, configured to determine the accuracy information of the grid points according to the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station; wherein the accuracy information of the grid points includes one or more of the following: internal conformity accuracy of the grid points, inverse interpolation accuracy of the grid points, and external conformity accuracy of the grid points; The correction submodule is used to correct the transmission data of the satellite according to the accuracy information of the grid points.

20. The device according to claim 19, characterized in that The determination module is specifically used for: A first determination module, configured to determine a first position distance matrix according to the position distance between the first position information and a preset position center; wherein the first position distance matrix indicates the distance relationship between each modeling station in the position area and the preset position center; A second confirmation module is used to determine a second position distance matrix according to the position distance between the third position information of the grid point and the preset position center; wherein the second position distance matrix indicates the distance relationship between the grid point and the preset position center; a third confirmation module, configured to determine ionospheric model parameters according to the first position distance matrix and the first STEC observation value; The fourth confirmation module is used to determine the internal conformity accuracy of the grid points according to the ionosphere model parameters and the second position distance matrix; and to determine the inverse interpolation accuracy of the grid points according to the ionosphere model parameters and the first position distance matrix; and to determine the external conformity accuracy of the grid points according to the ionosphere model parameters, the third position information of the grid points and the second position information of the monitoring station.

21. The device according to claim 20, characterized in that The third confirmation module is specifically used for: An establishment module is used to establish an ionospheric fitting model observation equation of the satellite according to the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes ionospheric model parameters to be solved; The solution module is used to solve the observation equation of the ionosphere fitting model of the satellite to obtain the ionosphere model parameters.

22. The device according to claim 20, characterized in that The fourth confirmation module is specifically used for: A first confirmation submodule is used to determine a correction number according to the first position distance matrix and the first STEC observation value; wherein the correction number represents the difference between the first STEC calculation value and the first STEC observation value; the first STEC calculation value is the calculated STEC value of the satellite; A second confirmation submodule is used to determine the model standard deviation of the satellite according to the correction number and the preset degree of freedom parameter; The third confirmation submodule is used to determine the internal conformity accuracy of the grid points according to the first position distance matrix, the second position distance matrix and the model standard deviation.

23. The device according to claim 22, characterized in that The internal accuracy of the grid points is Among them, m0 is the model standard deviation corresponding to the satellite, A is the second position distance matrix, and B is the first position distance matrix.

24. The device according to claim 22, characterized in that The fourth confirmation module is further specifically used for: A fourth confirmation submodule is used to perform inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain an ionospheric grid residual item; a fifth confirmation submodule, configured to determine a third STEC calculation value of the modeling station according to the ionospheric model parameters, the ionospheric grid residual term, and the first position distance matrix; and determining a third STEC observation value for the modeling station; The sixth confirmation submodule is used to determine the inverse interpolation accuracy of the grid point according to the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point.

25. The device according to claim 24, characterized in that Determining a third STEC observation value for the modeling station, specifically for: A first acquisition submodule, used for acquiring first observation data sent by the satellite to the modeling station; The first processing submodule is used to process the first observation data to obtain a third STEC observation value of the modeling station.

26. The device according to claim 24, characterized in that The inverse interpolation accuracy of the grid points is Wherein, N is the total number of modeling stations corresponding to the grid points; N is a positive integer greater than or equal to 1, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n is the third STEC observation value of the nth modeling station, STEC b,n The third STEC value is calculated for the nth modeling station.

27. The device according to claim 22, characterized in that The fourth confirmation module is further specifically used for: a seventh confirmation submodule, configured to perform inverse distance weighted processing on the correction number, the first position information of the modeling station, and the third position information of the grid point to obtain the ionospheric grid residual item; an eighth confirmation submodule, determining a fourth STEC calculation value of the monitoring station according to the ionospheric model parameter, the ionospheric grid residual term and the second location information of the monitoring station; and determining a fourth STEC observation value for said monitoring station; The ninth confirmation submodule is used to determine the external conformity accuracy of the grid point according to the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

28. The device according to claim 27, characterized in that Determining a fourth STEC observation value of the monitoring station, specifically for: A second acquisition submodule, used for acquiring second observation data sent by the satellite to the monitoring station; The second processing submodule is used to process the second observation data to obtain a fourth STEC observation value of the monitoring station.

29. The device according to claim 27, characterized in that The ninth confirmation submodule is specifically used for: a calculation module, configured to determine a difference between a fourth STEC calculated value and a fourth STEC observed value of the monitoring station, and calculate an STEC difference value of the monitoring station; And according to the average value of the STEC difference of each monitoring station, the mean value information is calculated; Determine the difference between the STEC difference value of the monitoring station and the value represented by the mean information as the STEC correction value of the monitoring station; The tenth confirmation submodule is used to determine the external conformity accuracy of the grid points according to the STEC correction value of each monitoring station.

30. The device according to claim 29, characterized in that The outer conformity accuracy of the grid points is Wherein, M is the total number of monitoring stations corresponding to the grid point; M is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1 and less than or equal to M; STEC c,m is the STEC correction value of the mth monitoring station.

31. The device according to any one of claims 19 to 30, characterized in that The correction submodule is specifically used for: a sixth confirmation module, configured to determine the STEC change rate of the satellite; wherein the STEC change rate represents the change of the STEC corresponding to the satellite within a preset time period; and determine the STEC quality factor of the grid point according to the STEC change rate of the satellite, the internal conformity accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external conformity accuracy of the grid point; The first correction submodule corrects the transmission data of the satellite according to the STEC quality factor of the grid point.

32. The device according to claim 31, characterized in that The sixth confirmation module is specifically used for: A third processing submodule is used to perform weighted calculation processing on the inner conformity accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the outer conformity accuracy of the grid points to obtain the STEC accuracy of the grid points; An eleventh confirmation submodule is used to determine the STEC quality factor of the grid point according to the STEC change rate of the satellite and the STEC accuracy of the grid point.

33. The device according to claim 32, characterized in that The eleventh confirmation submodule is specifically used for: a fourth processing submodule, for determining a standard deviation of the STEC change rate; and performing weighted calculation on the standard deviation of the STEC change rate using a preset weighting function to obtain a change factor of the STEC change rate; A twelfth confirmation submodule is used to determine the STEC quality factor of the grid point according to the change factor of the STEC change rate and the STEC accuracy of the grid point.

34. The device according to any one of claims 18 to 30, characterized in that The acquisition module is specifically used for: The fifth processing submodule is used to obtain the first observation data collected by the modeling station, and process each of the first observation data to obtain the first STEC observation value.

35. A device for correcting satellite transmission data, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 17.

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