Method, device and apparatus for correcting transmission data of a satellite

Abstract

Embodiments of the present application provide a method, device and equipment for correcting transmission data of a satellite. The method comprises: obtaining a first STEC (Slant Total Electron Content) observation value of the satellite; wherein the location area covered by the satellite comprises a plurality of grid points, the location area comprises a plurality of modeling stations and at least one monitoring station; and correcting the transmission data of the satellite according to the first location information of the modeling stations, the first STEC observation value and the second location information of the monitoring station. The method is used to improve the positioning accuracy.

Description

Technical Field

[0001] This application relates to the fields of satellite communication technology and navigation technology, and in particular to a method, apparatus and device for correcting satellite transmission data. Background Technology

[0002] Data is transmitted from satellites to ground-based devices, and the location of the terminal is then determined using this transmitted data. However, the Earth has an ionosphere. During data transmission, the data must pass through the ionosphere to reach the devices. Because the ionosphere contains electrons, it can affect data transmission, for example, by influencing the data's path. This can lead to inaccurate data.

[0003] Therefore, there is an urgent need for a solution that can correct the data transmitted by satellites. Summary of the Invention

[0004] This application provides a method, apparatus, and device for correcting satellite transmission data, thereby improving positioning accuracy.

[0005] In a first aspect, embodiments of this application provide a method for correcting satellite transmission data, comprising:

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

[0007] The satellite's transmitted data is corrected based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station.

[0008] In one possible implementation, the satellite's transmitted data is corrected based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, including:

[0009] Based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, the accuracy information of the grid points is determined; wherein, the accuracy information of the grid points includes one or more of the following: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points.

[0010] The satellite's transmitted data is corrected based on the accuracy information of the grid points.

[0011] In one possible implementation, the accuracy information of the grid points is determined based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, including:

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

[0013] The ionospheric model parameters are determined based on the first location distance matrix and the first STEC observation value.

[0014] The internal coincidence accuracy of the grid point is determined based on the ionospheric model parameters and the second position distance matrix; the inverse interpolation accuracy of the grid point is determined based on the ionospheric model parameters and the first position distance matrix; and the external coincidence accuracy of the grid point is determined based on the ionospheric model parameters, the third position information of the grid point, and the second position information of the monitoring station.

[0015] In one possible implementation, determining ionospheric model parameters based on the first location distance matrix and the first STEC observation includes:

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

[0017] The observation equations of the ionospheric fitting model of the satellite are solved to obtain the ionospheric model parameters.

[0018] In one possible implementation, determining the intrinsic accuracy of the grid points based on the ionospheric model parameters and the second location distance matrix includes:

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

[0020] The model standard deviation of the satellite is determined based on the corrections and the preset degrees of freedom parameters.

[0021] The intrinsic accuracy of the grid points is determined based on the first position distance matrix, the second position distance matrix, and the model standard deviation.

[0022] In one possible implementation, the intrinsic coincidence accuracy of the grid points is .

[0023] Where 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 one possible implementation, determining the inverse interpolation accuracy of the grid points based on the ionospheric model parameters and the first location distance matrix includes:

[0025] The correction, the first location information of the modeling station, and the third location information of the grid points are subjected to inverse distance weighting to obtain the ionospheric grid residual term;

[0026] Based on the ionospheric model parameters, the ionospheric grid residual terms, and the first location distance matrix, determine the third STEC calculated value of the modeling station; and determine the third STEC observed value of the modeling station; based on the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point, determine the inverse interpolation accuracy of the grid point.

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

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

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

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

[0031] 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, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n Let STEC be the third STEC observation at the nth modeling station. b,n This is the calculated value of the third STEC for the nth modeling station.

[0032] In one possible implementation, determining the external coincidence accuracy of the grid points based on the ionospheric model parameters, the third location information of the grid points, and the second location information of the monitoring station includes:

[0033] The correction, the first location information of the modeling station, and the third location information of the grid points are subjected to inverse distance weighting to obtain the ionospheric grid residual term;

[0034] The fourth STEC calculation value of the monitoring station is determined based on the ionospheric model parameters, the ionospheric grid residual terms, and the second location information of the monitoring station.

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

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

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

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

[0039] In one possible implementation, the external conformity accuracy of the grid point is determined based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point, including:

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

[0041] The difference between the STEC difference 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 one possible implementation, the external coincidence accuracy of the grid points is:

[0044] Where M is the total number of monitoring stations corresponding to the grid points; 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 This is the STEC correction value for the m-th monitoring station.

[0045] In one possible implementation, the satellite's transmitted data is corrected based on the accuracy information of the grid points, including:

[0046] Determine the STEC change rate of the satellite; wherein the STEC change rate characterizes 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 coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point.

[0047] The transmitted data of the satellite is corrected based on the STEC quality factor of the grid points.

[0048] In one possible implementation, the STEC quality factor of the grid point is determined based on the STEC change rate of the satellite, the internal coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point, including:

[0049] The STEC accuracy of the grid points is obtained by weighted calculation of the intrinsic coincidence accuracy, the inverse interpolation accuracy, and the extrinsic coincidence accuracy of the grid points.

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

[0051] In one possible implementation, the STEC quality factor of the grid point is determined based on the STEC change rate of the satellite and the STEC accuracy of the grid point, including:

[0052] Determine the standard deviation of the STEC rate of change; and use a preset weighting function to calculate the weighting of the standard deviation of the STEC rate of change to obtain the change factor of the STEC rate of change.

[0053] The STEC quality factor of the grid point is determined based on the variation factor of the STEC rate of change and the STEC accuracy of the grid point.

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

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

[0056] Secondly, embodiments of this application provide a correction device for satellite transmission data, the device being specifically used for:

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

[0058] The correction module is used to correct the satellite's transmitted data based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station.

[0059] In one possible implementation, the correction module is specifically used for:

[0060] The determination module is used to determine the accuracy information of the grid points based on 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: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points.

[0061] The correction submodule is used to correct the satellite's transmitted data based on the accuracy information of the grid points.

[0062] In one possible implementation, the determining module is specifically used for:

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

[0064] The second confirmation module is used to determine a second position distance matrix based on the third position information of the grid point and the position distance between 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 the ionospheric model parameters based on the first location distance matrix and the first STEC observation value.

[0066] The fourth confirmation module is used to determine the internal consistency accuracy of the grid point based on the ionospheric model parameters and the second position distance matrix; and to determine the inverse interpolation accuracy of the grid point based on the ionospheric model parameters and the first position distance matrix; and to determine the external consistency accuracy of the grid point based on the ionospheric model parameters, the second position distance matrix and the second position information of the monitoring station.

[0067] In one possible implementation, the third confirmation module is specifically used for:

[0068] A module is established to establish the ionospheric fitting model observation equation of the satellite based on the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes the ionospheric model parameters to be solved.

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

[0070] In one possible implementation, the fourth confirmation module is specifically used for:

[0071] The first confirmation submodule is used to determine 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 calculated value and the first STEC observation value; the first STEC calculated 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 based on the correction number and the preset degree of freedom parameters.

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

[0074] In one possible implementation, the intrinsic coincidence accuracy of the grid points is .

[0075] Where 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 one possible implementation, the fourth confirmation module is further configured to:

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

[0078] The fifth confirmation submodule is used to determine the third STEC calculated value of the modeling station based on the ionospheric model parameters, the ionospheric grid residual terms, and the first location distance matrix; and to determine the 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 based on 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 the third STEC observation of the modeling station is specifically used for:

[0081] The first acquisition submodule is used to acquire the 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 the third STEC observation value of the modeling station.

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

[0084] 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, and n is a positive integer greater than or equal to 1 and less than or equal to N; STEC a,n Let STEC be the third STEC observation at the nth modeling station. b,n This is the calculated value of the third STEC for the nth modeling station.

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

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

[0087] The eighth confirmation submodule determines the fourth STEC calculation value of the monitoring station based on the ionospheric model parameters, the ionospheric grid residual terms, 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 based on 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 the fourth STEC observation value of the monitoring station is specifically used for:

[0090] The second acquisition submodule is used to acquire the 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 the fourth STEC observation value of the monitoring station.

[0092] In one possible implementation, the ninth confirmation submodule is specifically used for:

[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, calculate the STEC difference of the monitoring station; and calculate the mean information based on the average value of the STEC differences 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 based on the STEC correction value of each monitoring station.

[0095] In one possible implementation, the external coincidence accuracy of the grid points is:

[0096] Where M is the total number of monitoring stations corresponding to the grid points; 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 This is the STEC correction value for the m-th monitoring station.

[0097] In one possible implementation, the correction submodule is specifically used for:

[0098] The sixth confirmation module 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 to determine the STEC quality factor of the grid point based on the STEC change rate of the satellite, the internal coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point.

[0099] The first correction submodule corrects the satellite's transmitted data based on the STEC quality factor of the grid points.

[0100] In one possible implementation, the sixth confirmation module is specifically used for:

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

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

[0103] In one possible implementation, the eleventh confirmation submodule is specifically used for:

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

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

[0106] In one possible implementation, the acquisition module is specifically used for:

[0107] The fifth processing submodule is used to acquire 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] Thirdly, embodiments of this application provide a correction device for satellite transmission data, including: a memory and a processor;

[0109] The memory stores computer-executed instructions.

[0110] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0111] This application provides a method, apparatus, and device for correcting satellite transmission data. First, STEC observation values ​​of the satellite transmission are obtained. These values ​​reflect the total number of electrons encountered by the satellite signal as it traverses the ionosphere and are a key parameter for assessing the ionosphere's influence on satellite signals. Next, the geographical area covered by the satellite is determined, containing multiple grid points for constructing an ionospheric model. Simultaneously, multiple modeling stations and at least one monitoring station are set up within this area. The modeling stations provide location information and STEC observation values ​​for establishing the ionospheric model; the monitoring station provides location information and relevant observation data for verifying and correcting the accuracy of the ionospheric model. Then, using the location information of the modeling stations, the STEC observation values, and the monitoring station, the satellite transmission data is precisely corrected. This method aims to reduce the impact of the ionosphere on satellite navigation and positioning, effectively reducing errors in satellite navigation and positioning results and improving positioning accuracy. Attached Figure Description

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

[0113] Figure 1 A flowchart illustrating a method for correcting satellite transmission data provided in this application embodiment. Figure 1 ;

[0114] Figure 2 A flowchart illustrating a method for correcting satellite transmission data provided in this application embodiment. Figure 2 ;

[0115] Figure 3 A flowchart illustrating step S202 in a satellite transmission data correction method provided in this application embodiment;

[0116] Figure 4 A flowchart illustrating step S203 in a satellite transmission data correction method provided in this application embodiment;

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

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

[0119] Figure 7 This is a schematic diagram of a satellite data transmission correction device provided in an embodiment of this application.

[0120] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0121] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0122] In Global Navigation Satellite Systems (GNSS), ionospheric delay is a significant source of error. Ionospheric delay refers to the delay in satellite signal propagation caused by interference from electrons in the ionosphere as the satellite transmits its signal across the Earth's atmosphere. This interference alters the signal's propagation path and thus delays the positioning accuracy. Therefore, it is necessary to determine the error caused by ionospheric delay to correct positioning results.

[0123] The calculation of ionospheric delay is achieved by establishing an ionospheric model. This model includes the Slant Total Electron Content (STEC) for each satellite, representing the total electron content along the path from the satellite to the receiver. Typically, the STEC for each satellite is input into a filter (e.g., a Kalman filter) to obtain an estimate of the ionospheric delay. In the filter processing for ionospheric delay estimation, current techniques commonly use the Total Electron Content (TEC) data provided by the Global Ionosphere Model (GIM) as the key input. However, this method has a significant limitation: it fails to adequately consider variations in ionospheric activity. The ionospheric activity is influenced by various complex factors, such as solar radiation intensity and geomagnetic activity levels, which are often not fully and accurately represented in the TEC data provided by the GIM model. Therefore, when the ionosphere is highly active, the ionospheric delay estimate based on the GIM model's TEC data may deviate significantly from the actual value. This deviation can further lead to inaccuracies in satellite navigation and positioning results, reducing positioning accuracy and reliability, and thus causing a series of potential problems in practical applications.

[0124] Therefore, this application provides a method, apparatus, and device for correcting satellite transmission data to solve the above-mentioned problems.

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

[0126] Figure 1A flowchart illustrating a method for correcting satellite transmission data provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method includes:

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

[0128] For example, first, the area where the grid system needs to be established is defined, with the upper left corner of this area as the starting point of the grid points; this is the reference point for establishing the grid system. Starting from this reference point, grid lines are drawn horizontally and vertically. The spacing of the grid lines can be set according to actual needs; this spacing will determine the grid density and accuracy. This process is repeated until the entire selected area is covered, forming a complete grid system. The grid system should include multiple modeling stations for collecting and processing satellite observation data to establish an ionospheric model. These modeling stations are the stations that participate in establishing the ionospheric model. The grid system may also include at least one monitoring station to provide additional data support. The monitoring station does not participate in establishing the ionospheric model but can be used to verify and monitor the effectiveness of the ionospheric model. A satellite is used as a reference point; this satellite should be located above the selected area and be observable by the modeling stations. The STEC observations for this satellite were obtained using Precise Point Positioning (PPP) with Precise Point Positioning-Ambiguity Resolution (PPP-AR) technology. PPP-AR is a high-precision positioning technique capable of separating most error sources, including ionospheric delay. The STEC observations obtained through this technique have high accuracy and reliability; the tilted total electron content (STEC) value mainly reflects the total electron content along the path between the modeling station and the satellite as it passes through the ionosphere.

[0129] S102. Based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, the satellite transmission data is corrected.

[0130] For example, the first location information of the modeling station refers to the longitude and latitude values ​​of the modeling station; the first STEC observation value refers to the STEC observation value of the satellite, which is obtained through PPP-AR technology; the second location information of the monitoring station refers to the longitude and latitude values ​​of the monitoring station. A first location distance matrix is ​​determined based on the longitude and latitude of the modeling station and the region center; a second location distance matrix is ​​determined based on the longitude and latitude of the grid points and the region center; ionospheric model parameters are determined based on the first location distance matrix and the first STEC observation value; the internal consistency accuracy of the grid points is determined based on the ionospheric model parameters and the second location distance matrix; and the inverse interpolation accuracy of the grid points is determined based on the ionospheric model parameters and the first location distance matrix; the external consistency accuracy of the grid points is determined based on the ionospheric model parameters, the third location information of the grid points, and the second location information of the monitoring station; and the variation factor of the STEC variation rate is determined based on the STEC variation rate. The STEC quality factor of a grid point is calculated using a specific formula, with additive factors representing the internal coincidence accuracy, inverse interpolation accuracy, and external coincidence accuracy, and multiplicative factors representing the STEC rate of change. This quality factor comprehensively reflects the uncertainty in ionospheric delay modeling. Using the STEC quality factor of the grid point as weights, the ionospheric delay is corrected more accurately. A larger weight indicates more reliable ionospheric delay modeling at that grid point. By correcting the ionospheric delay, the positioning accuracy of satellite navigation systems can be improved, achieving centimeter-level or even higher positioning accuracy.

[0131] This application provides a method for correcting satellite transmission data. First, STEC observations of the satellite transmission are obtained. These values ​​reflect the total number of electrons the satellite signal experiences while traversing the ionosphere and are a key parameter for assessing the ionosphere's influence on satellite signals. Next, the geographical area covered by the satellite is determined, containing multiple grid points for constructing an ionospheric model. Simultaneously, multiple modeling stations and at least one monitoring station are set up within this area. The modeling stations provide location information and STEC observations for establishing the ionospheric model; the monitoring station provides location information and relevant observation data for verifying and correcting the accuracy of the ionospheric model. Then, using the location information from the modeling stations, the STEC observations, and the monitoring station, the satellite transmission data is precisely corrected. This method aims to reduce the impact of the ionosphere on satellite navigation and positioning, effectively reducing errors in satellite navigation and positioning results and improving positioning accuracy.

[0132] Figure 2 A flowchart illustrating a method for correcting satellite transmission data provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the method includes:

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

[0134] For example, a specific geographical area is determined as the research scope based on the needs of ionospheric research or applications. 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. One or more satellites are selected as reference objects based on the needs of ionospheric research or applications. A receiver capable of receiving GNSS signals, such as a dual-frequency GPS receiver, is configured on each modeling station. The receiver should be able to record observations such as satellite pseudorange and carrier phase, as well as information such as satellite ephemeris and clock bias. 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; quality control of the satellite data is performed, including correction of satellite orbit errors, receiver noise, etc. Based on the PPP principle, a mathematical model is constructed including parameters such as receiver position, satellite orbit, clock bias, and ionospheric delay; a phase fractional deviation product is introduced for ambiguity fixation; and search and verification methods such as the LAMBDA algorithm are used to fix floating-point ambiguities. The ionospheric delay can be accurately estimated using PPP-AR technology. 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. Based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, determine the accuracy information of the grid points; wherein, the accuracy information of the grid points includes one or more of the following: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points.

[0136] In one example, Figure 3 This is a flowchart illustrating step S202 of a satellite transmission data correction method provided in an embodiment of this application, as shown below. Figure 3 As shown, step S202 includes:

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

[0138] S2022. Determine the second position distance matrix based on the third position information of the grid points and the position distance between the preset position center; wherein, the second position distance matrix indicates the distance relationship between the grid points and the preset position center.

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

[0140] S2024. Determine the internal consistency 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 based on the ionospheric model parameters and the first position distance matrix.

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

[0143] For example, intrinsic accuracy refers to the dispersion between the true value and the calculated value, i.e., precision, and is generally measured by the mean square error or standard deviation. Inverse interpolation accuracy and extrinsic accuracy refer to the degree of deviation between the true value and the calculated value, i.e., precision, and are generally measured by the root mean square (RMS) of the error. Extrinsic accuracy reflects the actual reliability of the positioning results. The difference is that inverse interpolation accuracy uses satellite data obtained from the modeling station for calculation, while extrinsic accuracy uses satellite data obtained from the monitoring station for calculation.

[0144] For example, the first location information refers to the longitude and latitude values ​​of the modeling station corresponding to the satellite. The preset location center position refers to the longitude and latitude values ​​of the center point of the grid area. The first location distance matrix is ​​constructed by subtracting the longitude and latitude values ​​of the modeling station corresponding to the satellite from the longitude and latitude values ​​of the center point of the grid area. The first location 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 h different ways (usually in the form of a product) are used to process these differences to construct the matrix. Assuming there are n modeling stations, the matrix is ​​constructed using four different methods as follows: First column (n elements): product of longitude and latitude differences; Second column (n elements): longitude differences (directly used as element values ​​without any calculation); Third column (n elements): latitude differences (also directly used as element values); Fourth column (n elements): all 1s.

[0145] For example, the third location information of a grid point refers to its longitude and latitude values. The preset location center position refers to the longitude and latitude values ​​of the center point of the grid area. A second location distance matrix is ​​constructed by subtracting the longitude and latitude values ​​of the grid points from the longitude and latitude values ​​of the center point of the grid area. The second location distance matrix is ​​a 1×h matrix, where 1 represents a grid point and h represents the dimension of the constructed matrix. Using a grid point as a reference point, a 1×4 matrix can be constructed as follows: First column (1 element): product of longitude and latitude differences; Second column (1 element): longitude difference (directly used as element value, without any calculation); Third column (1 element): latitude difference (also directly used as element value); Fourth column (1 element): all 1s.

[0146] For example, based on the first position distance matrix and the first STEC observation value, the ionospheric model parameters are solved by establishing the observation equation of the satellite's ionospheric fitting model.

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

[0148] For example, an observation equation for the satellite's ionospheric fitting model is established. The first position distance matrix is ​​multiplied by the satellite's ionospheric model parameters to obtain the calculated STEC value. The calculated STEC value is subtracted from the observed STEC value to obtain the correction for the satellite's STCE value. The correction characterizes the deviation between the calculated and observed STEC values; a smaller value is better. The observation equation for the ionospheric fitting model is:

[0149]

[0150] in, This is the first location distance matrix, which is the design matrix related to the longitude and latitude differences between the satellite's modeling station and the regional center; These are the parameters to be solved, i.e., the ionospheric model parameters, which are the parameters of the ionospheric model used to process the transmitted data from the satellite. This is the first STEC observation, that is, the STEC observation of the modeling station corresponding to the satellite; The correction value is the parameter to be solved, which characterizes the deviation between the calculated and observed STEC values ​​of the satellite.

[0151] For each satellite, there is a corresponding observation equation for an ionospheric fitting model. Therefore, by combining each equation, with v2 The constraint is to minimize the sum. Based on the principle of solving overdetermined equations, the ionospheric model parameters can be solved. Naturally, the corrections for each satellite... The solution can then be found.

[0152] For example, the ionospheric model parameters are solved, and then substituted into the observation equation of each ionospheric fitting model to obtain the satellite corrections; based on the corrections, the model standard deviation is solved; and the grid point ground accuracy is determined by 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 the 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 calculated value and the first STEC observation value; the first STEC calculated 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 based on the corrections and preset degree-of-freedom parameters.

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

[0157] In one example, the intrinsic accuracy of the grid points is 1. Where 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] For example, by combining the observation equations of each ionospheric fitting model, a correction is solved, which characterizes the deviation between the satellite's calculated STEC value and the satellite's observed STEC value.

[0159] For example, the model standard deviation of the confirmed satellite can be calculated using the following formula:

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

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

[0162] Where m0 is the model standard deviation corresponding to the satellite; A is the second position distance matrix; A TB is the transpose of the second position distance matrix; B is the first position distance matrix; B T This is the transpose of the distance matrix at the first position.

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

[0164] The first step of step S2025 is to perform inverse distance weighting on the correction, the first location information of the modeling station, and the third location information of the grid points 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 based on the ionospheric model parameters, the ionospheric grid residual terms, and the first location distance matrix.

[0166] The third step of step S2025 is to determine the 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 based on the calculated and observed values ​​of the third STEC at each modeling station corresponding to the grid points.

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

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

[0170] Where N is the total number of modeling stations corresponding to 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 Let STEC be the third STEC observation at the nth modeling station. b,n This is the calculated value of the third STEC for the nth modeling station.

[0171] For example, Inverse Distance Weighting (IDW) is a commonly used spatial interpolation method. Its basic idea is that points closer to each other have a greater influence on the target point; therefore, the weight should decrease as the distance increases. In ionospheric modeling, IDW can be used to infer ionospheric parameters at grid points based on data from modeling stations. IDW is applied to the corrections of the modeling stations, the first location information, and the third location information of the grid points. Specifically, based on 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. Then, based on these weights and the corrections of the modeling stations, the ionospheric parameters at the grid points are inferred. After obtaining the ionospheric parameters at the grid points, they can be compared with the actual observations to obtain residual terms. These residual terms can be used to evaluate the accuracy of the model and serve as the basis for subsequent model optimization.

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

[0173] For example, the first observation data sent by the satellite to the modeling station is acquired. This first observation data includes, but is not limited to, observations such as satellite pseudorange and carrier phase, as well as information such as satellite ephemeris and clock bias. Using PPP-AR technology, the ionospheric delay can be accurately estimated. Based on the estimated ionospheric delay and 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 grid points, the grid point corresponding to the satellite is used as the reference point. Within a certain range of this grid point, the difference between the STEC calculated values ​​of all modeling stations and the STEC observed values ​​of the modeling stations is calculated, and its RMS is calculated. This RMS is the inverse interpolation accuracy of the grid points, and the calculation formula can be expressed as:

[0175]

[0176] Where N is the total number of modeling stations corresponding to 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 Let STEC be the third STEC observation at the nth modeling station. b,n This is the calculated value of the third STEC 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 weighting on the correction, the first location information of the modeling station, and the third location information of the grid points to obtain the ionospheric grid residual term.

[0179] The second step of step S2026 is to determine the fourth STEC calculation value of the monitoring station based on the ionospheric model parameters, the ionospheric grid residual terms, and the second location information of the monitoring station.

[0180] The third step of step S2026 is to determine the 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 points based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid points.

[0182] In one example, the third step of step S2026 includes: acquiring second observation data sent by the satellite to the monitoring station; processing the second observation data to obtain the 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 the mean value information based on the average value of the STEC differences of each monitoring station.

[0184] The difference between the STEC difference 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 conformity accuracy of the grid points is determined based on the STEC correction values ​​of each monitoring station.

[0186] In one example, the external coincidence accuracy of the grid points is 1.

[0187] Where M is the total number of monitoring stations corresponding to the grid points; 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 This is the STEC correction value for the m-th monitoring station.

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

[0189] For example, the distance matrix of the monitoring stations is determined based on the location distance between the second location information of the monitoring stations and the preset location center. The second location information of the monitoring stations refers to the longitude and latitude values ​​of the monitoring stations corresponding to the satellites. The preset location center refers to the longitude and latitude values ​​of the center point of the grid area. The distance matrix of the monitoring stations is constructed by subtracting the longitude and latitude values ​​of the monitoring stations corresponding to the satellites from the longitude and latitude values ​​of the center point of the grid area. The distance matrix of the monitoring stations is an f×g matrix, where f refers to the number of monitoring stations corresponding to the satellites, and g refers to the number of different ways (usually in the form of a product) to process these differences to construct the matrix. Assuming there are f modeling stations, the matrix is ​​constructed using 4 different methods as follows: First column (f elements): product of longitude difference and latitude difference; Second column (f elements): longitude difference (directly used as element values ​​without any calculation); Third column (f elements): latitude difference (also directly used as element values); Fourth column (f elements): all 1s.

[0190] For example, 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] For example, second observation data transmitted by the satellite to the monitoring station is acquired. This second observation data includes, but is not limited to, observations such as satellite pseudorange and carrier phase, as well as information such as satellite ephemeris and clock bias. Using PPP-AR technology, the ionospheric delay can be accurately estimated. Based on the estimated ionospheric delay and 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, because the monitoring stations did not perform STEC reference value conversion (STEC reference value conversion 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 between the STEC calculated value and the STEC observed value of each monitoring station corresponding to each satellite. This systematic deviation is due to the difference in Differential Code Bias (DCB) between receivers of different monitoring stations, caused by differences in hardware and other aspects. To eliminate the influence of DCB differences, the difference between the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the satellite is calculated to obtain the STEC difference value of the monitoring station; the average of the STEC difference values ​​of each monitoring station is calculated to obtain the average STEC difference value of the monitoring station; and the difference between the STEC difference value of the monitoring station and the average STEC difference value of the monitoring station is calculated to obtain the STEC correction value of the monitoring station.

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

[0194] Where M is the total number of monitoring stations corresponding to the grid points; 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 This is the STEC correction value for the m-th monitoring station.

[0195] S203. Correct the satellite's transmitted data based on the accuracy information of the grid points.

[0196] In one example, Figure 4 This is a flowchart illustrating step S203 of a satellite transmission data correction method provided in an embodiment of this application. Figure 4 As shown, step S203 includes:

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

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

[0199] S2033. Correct the satellite's transmitted data based on the STEC quality factor of the grid points.

[0200] For example, using the current moment as a reference point and a past period as a sliding window, the STEC change rate of the satellite within this sliding window is determined (the period can be one minute, five minutes, or ten minutes; this embodiment is not limited). Based on the satellite's STEC change rate, the grid point's internal coincidence accuracy, the grid point's inverse interpolation accuracy, and the grid point's external coincidence accuracy, the grid point's STEC quality factor is determined. The STEC change rate and the grid point's accuracy index are comprehensively evaluated, specifically quantifying the impact of different factors on the STEC quality factor. Based on the comprehensive evaluation results, an STEC quality factor is determined for each grid point.

[0201] Based on the STEC quality factor of the grid points and the mechanism by which the ionosphere affects satellite signals, a correction strategy is formulated. This includes, but is not limited to, adjusting parameters such as the frequency, power, and coding scheme of the satellite signal to reduce the impact of the ionosphere on the signal. The correction strategy is then applied to the satellite's transmitted data, which involves real-time adjustment of the satellite's transmission parameters or post-processing of the received data to correct ionospheric errors. The quality and performance of the corrected satellite transmitted data are then evaluated. This can be achieved by comparing the differences between the data before and after correction, and analyzing the performance indicators of the communication or navigation system.

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

[0203] The first step of step S2032 is to perform a weighted calculation on the intrinsic accuracy, inverse interpolation accuracy, and extrinsic 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 points based on the STEC change rate of the satellite and the STEC accuracy of the grid points.

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

[0206] In one example, the second step of step S2032 further includes: determining the STEC quality factor of the grid points based on the variation factor of the STEC rate of change and the STEC accuracy of the grid points.

[0207] For example, the STEC accuracy of 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 The STEC accuracy of the grid points; σ fit σ represents the internal consistency accuracy of the grid points. inner For grid point inverse interpolation accuracy; σ ex The external conformance accuracy of the grid points; a, b, and c are the weights of the model fitting internal conformance accuracy, the grid point inverse interpolation accuracy, and the external station monitoring accuracy, respectively, and their values ​​are verified by large sample test data.

[0209] For example, the calculation formula for the second STEC value of a grid point can be expressed as:

[0210] Among them, STEC d,k Here is the calculated STEC value for the k-th grid point; A is the second location distance matrix. These are the parameters for the ionospheric model. For example, the variation factor of the STEC rate of change is calculated. First, the rate of change of total electron content (ROT) is calculated. ROT is the rate of change of the second STEC value of the grid points over two consecutive time epochs. The calculation formula can be expressed as:

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

[0212] Then, the Rate of Total ElectronContent Index (ROTI) is calculated using ROT. The formula can be expressed as:

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

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

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

[0216] By using the intrinsic accuracy, inverse interpolation accuracy, and extrinsic accuracy of grid points as additive factors, and the variation factor of the STEC rate of change as a multiplicative factor, the STEC quality factor from s to the grid point is calculated. The calculation formula can be expressed as: STEC QI=f(ROTI)·(a·σ fit +b·σinner +c·σ ex ).

[0217] This application provides a method for correcting satellite transmission data. The method involves determining a first location distance matrix based on the latitude and longitude of a modeling station and a preset location center; determining a second location distance matrix based on the latitude and longitude of grid points and the preset location center; determining ionospheric model parameters based on the first location distance matrix and first STEC observations; determining the intrinsic consistency accuracy of grid points based on the ionospheric model parameters and the second location distance matrix; determining the inverse interpolation accuracy based on the ionospheric model parameters and the first location distance matrix; determining the extrinsic consistency accuracy of grid points based on the ionospheric model parameters, third location information of grid points, and second location information of monitoring stations; and determining the STEC rate of change variation factor based on the STEC rate of change. The intrinsic consistency accuracy, inverse interpolation accuracy, and extrinsic consistency accuracy of grid points are used as additive factors, and the STEC rate of change variation factor is used as a multiplicative factor. A certain formula is used to calculate the STEC quality factor of the grid points. This quality factor comprehensively reflects the uncertainty of ionospheric delay modeling. Using the STEC quality factor of the grid points as weights, the ionospheric delay is corrected more accurately. A higher weight indicates a more reliable ionospheric delay model at that grid point. By correcting for ionospheric delay, the positioning accuracy of satellite navigation systems can be improved, achieving centimeter-level or even higher accuracy.

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

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

[0220] The correction module 502 is used to correct the satellite's transmitted data based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station.

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

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

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

[0224] The correction module 62 is used to correct the satellite's transmitted data based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station.

[0225] In one example, the correction module 62 is specifically used for:

[0226] The determination module 621 is used to determine the accuracy information of the grid points based on 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: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points.

[0227] The correction submodule 622 is used to correct the satellite's transmitted data based on the accuracy information of the grid points.

[0228] In one example, module 621 is identified as being used specifically for:

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

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

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

[0232] The fourth confirmation module 6214 is used to determine the internal consistency accuracy of the grid points based on the ionospheric model parameters and the second position distance matrix; and to determine the inverse interpolation accuracy of the grid points based on the ionospheric model parameters and the first position distance matrix; and to determine the external consistency 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 for:

[0234] Module 62131 is established to establish the observation equation of the satellite's ionospheric fitting model based on the first position distance matrix and the first STEC observation value; wherein the observation equation of the ionospheric fitting model includes the ionospheric model parameters to be solved.

[0235] The solver module 62132 is used to solve the observation equations of the satellite's ionospheric fitting model to obtain the ionospheric model parameters.

[0236] In one example, the fourth confirmation module 6214 is specifically used for:

[0237] The first confirmation submodule 62141 is used to determine 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 calculated value and the first STEC observation value; the first STEC calculated 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 based on the corrections and preset degree-of-freedom parameters.

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

[0240] In one example, the intrinsic accuracy of the grid points is 1.

[0241] Where 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 also specifically used for:

[0243] The fourth confirmation submodule 62144 is used to perform inverse distance weighting on the correction, the first location information of the modeling station, and the third location information of the grid points 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 based on the ionospheric model parameters, the ionospheric grid residual terms, and the first position distance matrix; and to 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 points based on the calculated and observed values ​​of the third STEC at each modeling station corresponding to the grid points.

[0246] In one example, the third STEC observation of the 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 the third STEC observation value of the modeling station.

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

[0250] Where N is the total number of modeling stations corresponding to 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 Let STEC be the third STEC observation at the nth modeling station. b,n This is the calculated value of the third STEC for the nth modeling station.

[0251] In one example, the fourth confirmation module 6214 is specifically used for:

[0252] The seventh confirmation submodule 62154 is used to perform inverse distance weighting on the corrections, the first location information of the modeling station, and the third location information of the grid points to obtain the ionospheric grid residual term.

[0253] The eighth confirmation submodule 62155 determines the fourth STEC calculated value of the monitoring station based on the ionospheric model parameters, the ionospheric grid residual terms, and the second location information of the monitoring station; and determines the 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 points based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid points.

[0255] In one example, the fourth STEC observation at the monitoring station is determined specifically 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 the fourth STEC observation value of the monitoring station.

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

[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, calculate the STEC difference of the monitoring station; and calculate the mean value information based on 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 value information, which is 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 based on the STEC correction values ​​of each monitoring station.

[0261] In one example, the external coincidence accuracy of the grid points is 1.

[0262] Where M is the total number of monitoring stations corresponding to the grid points; 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 This is the STEC correction value for the m-th monitoring station.

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

[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 based on the STEC change rate of the satellite, the internal coincidence accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external coincidence accuracy of the grid points, the STEC quality factor of the grid points is determined.

[0265] The first correction submodule 6222 corrects the satellite's transmitted data based on the STEC quality factor of the grid points.

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

[0267] The third processing submodule 62211 is used to perform weighted calculation on the internal consistency accuracy, inverse interpolation accuracy, and external consistency 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 points based on the STEC change rate of the satellite and the STEC accuracy of the grid points.

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

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

[0271] The twelfth confirmation submodule 622122 is used to determine the STEC quality factor of the grid points based on the variation factor of the STEC rate of change and the STEC accuracy of the grid points.

[0272] In one example, module 61 is retrieved, specifically for:

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

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

[0275] Figure 7 This is a schematic diagram of a satellite data transmission correction device provided in an embodiment of this 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, memory 702, and communication component 703 are connected via a bus 704.

[0276] In a specific implementation, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to perform the above-described method.

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

[0278] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0279] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0280] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0281] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for correcting satellite transmission data, characterized in that, The method includes: The first tilted total electron content (STEC) observation value of the satellite is obtained; wherein the location area covered by the satellite includes multiple grid points, and the location area includes multiple modeling stations and at least one monitoring station; Based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, the accuracy information of the grid points is determined; wherein, the accuracy information of the grid points includes one or more of the following: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points. The STEC quality factor of the grid points is determined based on the accuracy information of the grid points and the STEC change rate of the satellite, and the transmitted data of the satellite is corrected based on the STEC quality factor of the grid points.

2. The method according to claim 1, characterized in that, Based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station, the accuracy information of the grid points is determined, including: Based on the location distance between the first location information and the preset location center, a first location distance matrix is ​​determined; wherein, the first location distance matrix indicates the distance relationship between each modeling station in the location area and the preset location center; and based on the location distance between the third location information of the grid point and the preset location center, a second location distance matrix is ​​determined; wherein, the second location distance matrix indicates the distance relationship between the grid point and the preset location center; The ionospheric model parameters are determined based on the first location distance matrix and the first STEC observation value; Based on the ionospheric model parameters and the second location distance matrix, the internal coincidence accuracy of the grid points is determined; based on the ionospheric model parameters and the first location distance matrix, the inverse interpolation accuracy of the grid points is determined; and based on the ionospheric model parameters, the third location information of the grid points, and the second location information of the monitoring station, the external coincidence accuracy of the grid points is determined.

3. The method according to claim 2, characterized in that, Based on the first location distance matrix and the first STEC observation value, the ionospheric model parameters are determined, including: Based on the first position distance matrix and the first STEC observation value, the ionospheric fitting model observation equation of the satellite is established; wherein, the ionospheric fitting model observation equation includes the ionospheric model parameters to be solved; The observation equations of the ionospheric fitting model of the satellite are solved to obtain the ionospheric model parameters.

4. The method according to claim 2, characterized in that, Determining the intrinsic accuracy of the grid points based on the ionospheric model parameters and the second location distance matrix includes: A correction is determined based on the first position distance matrix and the first STEC observation value; wherein the correction represents the difference between the first STEC calculated value and the first STEC observation value; the first STEC calculated value is the calculated STEC value of the satellite; The model standard deviation of the satellite is determined based on the corrections and the preset degrees of freedom parameters; The intrinsic accuracy of the grid points is determined based on the first position distance matrix, the second position distance matrix, and the model standard deviation.

5. The method according to claim 4, characterized in that, The intrinsic accuracy of the grid points is: ; in, Let A be the model standard deviation corresponding to the satellite, A be the second position distance matrix, and B be the first position distance matrix.

6. The method according to claim 4, characterized in that, Determining the inverse interpolation accuracy of the grid points based on the ionospheric model parameters and the first location distance matrix includes: The correction, the first location information of the modeling station, and the third location information of the grid points are subjected to inverse distance weighting to obtain the ionospheric grid residual term; Based on the ionospheric model parameters, the ionospheric grid residual terms, and the first location distance matrix, determine the third STEC calculated value of the modeling station; and determine the third STEC observed value of the modeling station. The inverse interpolation accuracy of the grid points is determined based on the calculated and observed values ​​of the third STEC at each modeling station corresponding to the grid points.

7. The method according to claim 6, characterized in that, Determining the third STEC observation of the modeling station includes: Acquire the first observation data sent by the satellite to the modeling station; The first observation data is processed to obtain the third STEC observation value of the modeling station.

8. The method according to claim 6, characterized in that, The inverse interpolation accuracy of the grid points is: ; 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, and n is a positive integer greater than or equal to 1 and less than or equal to N; The third STEC observation at the nth modeling station. This is the calculated value of the third STEC for the nth modeling station.

9. The method according to claim 6, characterized in that, Based on the ionospheric model parameters, the third location information of the grid points, and the second location information of the monitoring station, the external coincidence accuracy of the grid points is determined, including: The correction, the first location information of the modeling station, and the third location information of the grid points are subjected to inverse distance weighting to obtain the ionospheric grid residual term; Based on the ionospheric model parameters, the ionospheric grid residual terms, and the second location information of the monitoring station, the fourth STEC calculated value of the monitoring station is determined; and the fourth STEC observed value of the monitoring station is determined. The external conformity accuracy of the grid points is determined based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid points.

10. The method according to claim 9, characterized in that, Determining the fourth STEC observation value of the monitoring station includes: Acquire the second observation data sent by the satellite to the monitoring station; The second observation data is processed to obtain the fourth STEC observation value of the monitoring station.

11. The method according to claim 9, characterized in that, Based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point, the external conformity accuracy of the grid point is determined, including: The difference between the calculated value and the observed value of the fourth STEC at the monitoring station is determined to obtain the STEC difference of the monitoring station; and the mean value information is obtained based on the average value of the STEC differences of each monitoring station. The difference between the STEC difference of the monitoring station and the value represented by the mean information is determined 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.

12. The method according to claim 11, characterized in that, The external conformity accuracy of the grid points is ; Where M is the total number of monitoring stations corresponding to the grid points; 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; This is the STEC correction value for the m-th monitoring station.

13. The method according to any one of claims 1-12, characterized in that, The STEC quality factor of the grid points is determined based on the accuracy information of the grid points and the STEC change rate of the satellite. The transmitted data of the satellite is then corrected based on the STEC quality factor of the grid points, including: Determine the STEC change rate of the satellite; wherein the STEC change rate characterizes 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 coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point. The transmitted data of the satellite is corrected based on the STEC quality factor of the grid points.

14. The method according to claim 13, characterized in that, The STEC quality factor of the grid point is determined based on the STEC change rate of the satellite, the internal coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point, including: The STEC accuracy of the grid point is obtained by weighting the intrinsic coincidence accuracy, the inverse interpolation accuracy, and the extrinsic coincidence accuracy of the grid point. The STEC quality factor of the grid point is determined based on the STEC change rate of the satellite and the STEC accuracy of the grid point.

15. The method according to claim 14, characterized in that, Based on the STEC change rate of the satellite and the STEC accuracy of the grid points, the STEC quality factor of the grid points is determined, including: Determine the standard deviation of the STEC rate of change; and use a preset weighting function to weight the standard deviation of the STEC rate of change to obtain the change factor of the STEC rate of change; The STEC quality factor of the grid point is determined based on the variation factor of the STEC rate of change and the STEC accuracy of the grid point.

16. The method according to any one of claims 1-12, characterized in that, The first tilt total electron content (STEC) observation value of the satellite was obtained, including: The first observation data collected by the modeling station is obtained, and each of the first observation data is processed to obtain the first STEC observation value.

17. A correction device for satellite transmission data, characterized in that, The device is specifically used for: The acquisition module is used to acquire the first tilted total electron content (STEC) observation value of the satellite; wherein the location area covered by the satellite includes multiple grid points, and the location area includes multiple modeling stations and at least one monitoring station; The correction module is used to correct the satellite's transmitted data based on the first location information of the modeling station, the first STEC observation value, and the second location information of the monitoring station. The correction module is specifically used for: The determination module is used to determine the accuracy information of the grid points based on 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: the internal consistency accuracy of the grid points, the inverse interpolation accuracy of the grid points, and the external consistency accuracy of the grid points. The correction submodule is used to determine the STEC quality factor of the grid points based on the accuracy information of the grid points and the STEC change rate of the satellite, and to correct the transmitted data of the satellite based on the STEC quality factor of the grid points.

18. The apparatus according to claim 17, characterized in that, The determining module is specifically used for: The first determining module is used to determine a first location distance matrix based on the location distance between the first location information and the preset location center; wherein the first location distance matrix indicates the distance relationship between each modeling station in the location area and the preset location center; The second confirmation module is used to determine a second position distance matrix based on the third position information of the grid point and the position distance between the preset position center; wherein, the second position distance matrix indicates the distance relationship between the grid point and the preset position center; The third confirmation module is used to determine the ionospheric model parameters based on the first location distance matrix and the first STEC observation value. The fourth confirmation module is used to determine the internal consistency accuracy of the grid points based on the ionospheric model parameters and the second position distance matrix; and to determine the inverse interpolation accuracy of the grid points based on the ionospheric model parameters and the first position distance matrix; and to determine the external consistency 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.

19. The apparatus according to claim 18, characterized in that, The third confirmation module is specifically used for: A module is established to establish the ionospheric fitting model observation equation of the satellite based on the first position distance matrix and the first STEC observation value; wherein the ionospheric fitting model observation equation includes the ionospheric model parameters to be solved. The solution module is used to solve the observation equations of the ionospheric fitting model of the satellite to obtain the ionospheric model parameters.

20. The apparatus according to claim 18, characterized in that, The fourth confirmation module is specifically used for: The first confirmation submodule is used to determine 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 calculated value and the first STEC observation value; the first STEC calculated value is the calculated STEC value of the satellite; The second confirmation submodule is used to determine the model standard deviation of the satellite based on the correction number and the preset degree of freedom parameters; The third confirmation submodule is used to determine the intrinsic accuracy of the grid points based on the first position distance matrix, the second position distance matrix, and the model standard deviation.

21. The apparatus according to claim 20, characterized in that, The intrinsic accuracy of the grid points is: ; in, Let A be the model standard deviation corresponding to the satellite, A be the second position distance matrix, and B be the first position distance matrix.

22. The apparatus according to claim 20, characterized in that, The fourth confirmation module is further used for: The fourth confirmation submodule is used to perform inverse distance weighting on the correction number, the first location information of the modeling station, and the third location information of the grid point to obtain the ionospheric grid residual term; The fifth confirmation submodule is used to determine the third STEC calculation value of the modeling station based on the ionospheric model parameters, the ionospheric grid residual terms, and the first location distance matrix. And determine the third STEC observation value of the modeling station; The sixth confirmation submodule is used to determine the inverse interpolation accuracy of the grid point based on the third STEC calculated value and the third STEC observed value of each modeling station corresponding to the grid point.

23. The apparatus according to claim 22, characterized in that, Determining the third STEC observation value of the modeling station is specifically used for: The first acquisition submodule is used to acquire the 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 the third STEC observation value of the modeling station.

24. The apparatus according to claim 22, characterized in that, The inverse interpolation accuracy of the grid points is: ; 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, and n is a positive integer greater than or equal to 1 and less than or equal to N; The third STEC observation at the nth modeling station. This is the calculated value of the third STEC for the nth modeling station.

25. The apparatus according to claim 22, characterized in that, The fourth confirmation module is further used for: The seventh confirmation submodule is used to perform inverse distance weighting processing on the correction number, the first location information of the modeling station and the third location information of the grid point to obtain the ionospheric grid residual term; The eighth confirmation submodule determines the fourth STEC calculation value of the monitoring station based on the ionospheric model parameters, the ionospheric grid residual terms, and the second location information of the monitoring station. And determine the fourth STEC observation value of the monitoring station; The ninth confirmation submodule is used to determine the external conformity accuracy of the grid point based on the fourth STEC calculated value and the fourth STEC observed value of each monitoring station corresponding to the grid point.

26. The apparatus according to claim 25, characterized in that, Determining the fourth STEC observation value of the monitoring station is specifically used for: The second acquisition submodule is used to acquire the 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 the fourth STEC observation value of the monitoring station.

27. The apparatus according to claim 25, characterized in that, The ninth confirmation submodule is specifically used for: 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, and to calculate the STEC difference of the monitoring station. The mean value information is calculated based on the average value of the STEC difference of each monitoring station. The difference between the STEC difference of the monitoring station and the value represented by the mean information is determined 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 based on the STEC correction value of each monitoring station.

28. The apparatus according to claim 27, characterized in that, The external conformity accuracy of the grid points is ; Where M is the total number of monitoring stations corresponding to the grid points; 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; This is the STEC correction value for the m-th monitoring station.

29. The apparatus according to any one of claims 17-28, characterized in that, The correction submodule is specifically used for: The sixth confirmation module 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 the STEC quality factor of the grid point is determined based on the STEC change rate of the satellite, the internal coincidence accuracy of the grid point, the inverse interpolation accuracy of the grid point, and the external coincidence accuracy of the grid point. The first correction submodule corrects the satellite's transmitted data based on the STEC quality factor of the grid points.

30. The apparatus according to claim 29, characterized in that, The sixth confirmation module is specifically used for: The third processing submodule is used to perform weighted calculation on the inner coincidence accuracy, the inverse interpolation accuracy, and the outer coincidence accuracy of the grid points to obtain the STEC accuracy of the grid points. The eleventh confirmation submodule is used to determine the STEC quality factor of the grid point based on the STEC change rate of the satellite and the STEC accuracy of the grid point.

31. The apparatus according to claim 30, characterized in that, The eleventh confirmation submodule is specifically used for: The fourth processing submodule is used to determine the standard deviation of the STEC rate of change; and to perform a weighted calculation on the standard deviation of the STEC rate of change using a preset weighting function to obtain the change factor of the STEC rate of change. The twelfth confirmation submodule is used to determine the STEC quality factor of the grid point based on the change factor of the STEC change rate and the STEC accuracy of the grid point.

32. The apparatus according to any one of claims 17-28, characterized in that, The acquisition module is specifically used for: The fifth processing submodule is used to acquire the first observation data collected by the modeling station and process each of the first observation data to obtain the first STEC observation value.

33. A correction device for satellite transmission data, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-15.

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