GNSS (Global Navigation Satellite System) service performance state evaluation method and device, medium and equipment

Abstract

The embodiment of the invention discloses a GNSS (Global Navigation Satellite System) service performance state evaluation method and device, a medium and equipment, and relates to the technical field of satellite navigation.The GNSS service performance state evaluation method utilizes original observation data of a global satellite navigation system output by a receiver and ephemeris issued by satellites for evaluation, and due to the fact that the original observation data contains multi-dimensional indexes, the GNSS service performance state is evaluated. According to the method, more index support can be provided for accurate evaluation of the GNSS service performance state, frequency division points of acquired data are extracted, evaluation is divided by frequency points, pseudo-range single-point positioning calculation and cycle slip detection are carried out on a receiver under each frequency point, and the obtained positioning error data, pseudo-range residual error sequences and cycle slip identifiers are utilized to determine the GNSS service performance state according to the pseudo-range residual error sequences and the cycle slip identifiers. According to the method, the current GNSS service performance state can be more accurately judged by combining the carrier-to-noise ratio data of all satellites, and the evaluation is that the multi-dimensional effective information is fused and judged, so that the GNSS service performance state can be more carefully divided, and the effective evaluation of the GNSS service performance state is realized.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a GNSS service performance status evaluation method, device, medium and equipment. Background Art

[0002] With the development of the global satellite navigation system (GNSS), the application of satellite navigation technology is becoming more and more extensive. The advancement of technology will also face the complexity of the electromagnetic environment. Various intentional and unintentional interference situations seriously threaten the quality and security of GNSS services. In a complex electromagnetic environment, the main threats faced by GNSS include deception interference and suppression interference.

[0003] Deception interference misleads the receiver by sending fake signals, resulting in position calculation errors; suppression interference prevents the receiver from locking onto the real signal through strong signal coverage. In-depth evaluation of GNSS service performance can not only help identify interference sources, but also provide data support for interference judgment, thereby improving the accuracy of interference detection, enhancing the system's anti-interference capabilities, and ensuring the stability and security of navigation services. This is of great significance for building a sound interference protection system and ensuring user signal reliability. However, due to the continuous development of GNSS, its service performance is affected by many factors. The existing method of using a single indicator for evaluation has been unable to meet the requirements for effective evaluation of GNSS service performance status. Summary of the invention

[0004] The main purpose of this application is to provide a GNSS service performance status evaluation method, device, medium and equipment, aiming to solve the problem that the existing technology is difficult to meet the effective evaluation of GNSS service performance status.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a GNSS service performance status evaluation method, comprising the following steps:

[0007] Obtain the GNSS raw observation data output by the receiver and the ephemeris sent by the satellite;

[0008] The frequency division point extracts the GNSS original observation data and the ephemeris sent by the satellite to obtain the target observation data and target ephemeris;

[0009] According to the target observation data and target ephemeris, the receiver is subjected to pseudo-range single-point positioning solution to obtain positioning error data and pseudo-range residual sequence;

[0010] According to the target observation data and target ephemeris, the receiver is subjected to cycle slip detection to obtain a cycle slip identifier;

[0011] The GNSS service performance status is evaluated based on positioning error data, pseudorange residual sequence, cycle slip identifier and carrier-to-noise ratio data of all satellites.

[0012] In a possible implementation of the first aspect, performing pseudorange single-point positioning solution on a receiver according to target observation data and target ephemeris to obtain positioning error data and a pseudorange residual sequence includes:

[0013] According to the target observation data and target ephemeris, the SPP algorithm is used to perform pseudo-range single-point positioning on the receiver to obtain positioning error data and pseudo-range residual sequence.

[0014] In a possible implementation manner of the first aspect, performing cycle slip detection on a receiver according to target observation data and target ephemeris to obtain a cycle slip identifier includes:

[0015] According to the target observation data and target ephemeris, the MW value and GF value of the observation value are calculated;

[0016] The changes of the MW value and the GF value are determined according to the detection conditions to perform cycle slip detection on the receiver and obtain a cycle slip identifier.

[0017] In a possible implementation manner of the first aspect, before determining changes in the MW value and the GF value according to the detection condition to perform cycle slip detection on the receiver and obtaining the cycle slip identifier, the method further includes:

[0018] The detection conditions are obtained by performing epoch difference based on the MW and GF values ​​of the observations at two previous and subsequent time points.

[0019] In a possible implementation manner of the first aspect, evaluating the GNSS service performance status according to the positioning error data, the pseudorange residual sequence, the cycle slip identifier, and the carrier-to-noise ratio data of all satellites includes:

[0020] The GNSS service performance status is evaluated based on the size of the positioning error data and the set threshold value, whether the root mean square error value of the pseudorange residual sequence passes the chi-square test, the cycle slip identifier, the size of the standard deviation value of the carrier-to-noise ratio data of all satellites, and the size of the average value of the carrier-to-noise ratio data of all satellites and the average value threshold.

[0021] In a possible implementation manner of the first aspect, evaluating the GNSS service performance status includes:

[0022] Evaluate the category and interference level of GNSS service performance status.

[0023] In a possible implementation manner of the first aspect, after evaluating the GNSS service performance status, the method further includes:

[0024] Determine the threshold update method according to whether the current time is in the startup time period;

[0025] Update the threshold value set during evaluation according to the threshold update method.

[0026] In a second aspect, an embodiment of the present application provides a GNSS service performance status evaluation device, including:

[0027] The acquisition module is used to obtain the GNSS original observation data output by the receiver and the ephemeris sent by the satellite;

[0028] Extraction module, which is used to extract GNSS original observation data and satellite-sent ephemeris at frequency points to obtain target observation data and target ephemeris;

[0029] A solution module is used to perform pseudo-range single-point positioning solution on the receiver according to the target observation data and the target ephemeris, and obtain the positioning error data and pseudo-range residual sequence;

[0030] The detection module is used to perform cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier;

[0031] The evaluation module is used to evaluate the GNSS service performance status based on the positioning error data, pseudorange residual sequence, cycle slip identifier and carrier-to-noise ratio data of all satellites.

[0032] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, the GNSS service performance status evaluation method provided in any one of the first aspects above is implemented.

[0033] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein:

[0034] The memory is used to store computer programs;

[0035] The processor is used to load and execute a computer program so that the electronic device executes the GNSS service performance status evaluation method provided in any one of the first aspects above.

[0036] Compared with the prior art, the beneficial effects of this application are:

[0037] The GNSS service performance status evaluation method, device, medium and equipment proposed in the embodiments of the present application include: obtaining GNSS original observation data and satellite-sent ephemeris output by the receiver; extracting the GNSS original observation data and satellite-sent ephemeris at the frequency division point to obtain target observation data and target ephemeris; performing pseudo-range single-point positioning solution on the receiver according to the target observation data and target ephemeris to obtain positioning error data and pseudo-range residual sequence; performing cycle slip detection on the receiver according to the target observation data and target ephemeris to obtain a cycle slip identifier; and evaluating the GNSS service performance status according to the positioning error data, pseudo-range residual sequence, cycle slip identifier and carrier-to-noise ratio data of all satellites. This application uses the original observation data of the global satellite navigation system output by the receiver and the ephemeris sent by the satellite for evaluation. Since the original observation data contains multi-dimensional indicators, it can provide more indicator support for the accurate evaluation of the GNSS service performance status. By extracting the frequency points of the acquired data, the evaluation is divided by frequency points. The receiver is subjected to pseudo-range single-point positioning solution and cycle slip detection at each frequency point. The obtained positioning error data, pseudo-range residual sequence, cycle slip identifier, and the carrier-to-noise ratio data of all satellites are used to more accurately judge the current GNSS service performance status. The evaluation is a fusion judgment of the aforementioned multi-dimensional effective information, which can more finely divide the GNSS service performance status and achieve effective evaluation of the GNSS service performance status. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of an electronic device of a hardware operating environment involved in an embodiment of the present application;

[0039] Figure 2 A flowchart of a GNSS service performance status evaluation method provided in an embodiment of the present application;

[0040] Figure 3 A flowchart of a GNSS service performance status evaluation method provided in an embodiment of the present application in one implementation manner;

[0041] Figure 4 A schematic diagram of a module of a GNSS service performance status evaluation device provided in an embodiment of the present application;

[0042] Markings in the figure: 101 - processor, 102 - communication bus, 103 - network interface, 104 - user interface, 105 - memory. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] Refer to the attached Figure 1 , attached Figure 1This is a schematic diagram of the structure of an electronic device of the hardware operating environment involved in the embodiment of the present application. The electronic device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Among them, the communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 105 may optionally be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) memory, or it may be a stable non-volatile memory (NVM), such as at least one disk storage; the processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0045] Those skilled in the art will appreciate that Figure 1 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0046] As attached Figure 1 As shown, the memory 105 as a storage medium may include an operating system, a network communication module, a user interface module, and a GNSS service performance status evaluation device.

[0047] In the attached Figure 1 In the electronic device shown, the network interface 103 is mainly used for data communication with a network server; the user interface 104 is mainly used for data interaction with a user; the processor 101 and the memory 105 in the present application can be set in the electronic device, and the electronic device calls the GNSS service performance status evaluation device stored in the memory 105 through the processor 101, and executes the GNSS service performance status evaluation method provided in the embodiment of the present application.

[0048] Refer to the attached Figure 2 Based on the hardware device of the aforementioned embodiment, the embodiment of the present application provides a GNSS service performance status evaluation method, comprising the following steps:

[0049] S10: Obtain the GNSS raw observation data output by the receiver and the ephemeris sent by the satellite.

[0050] In the specific implementation process, the original information output by the navigation receiver is obtained, including the original observation data and the ephemeris sent by the satellite. The original observation data may include carrier-to-noise ratio, pseudorange observation value, frequency number, satellite PRN number, carrier phase observation value and Doppler observation value. Satellite ephemeris is an astronomical table that records the position and predicted coordinates of celestial bodies. Through real-time ephemeris, the precise position and orientation of the satellite can be determined to provide direction guidance for navigation.

[0051] S20: extract the GNSS original observation data and the ephemeris sent by the satellite at the frequency division point to obtain the target observation data and target ephemeris.

[0052] In the specific implementation process, there are data of multiple frequencies at the current moment. In order to improve the efficiency of evaluation and judgment, the data are divided into frequency points, and the acquired data are also extracted by frequency points. After the data at each frequency point is extracted, the target observation data and target ephemeris are obtained respectively.

[0053] S30: According to the target observation data and the target ephemeris, the receiver is subjected to pseudo-range single-point positioning solution to obtain positioning error data and pseudo-range residual sequence.

[0054] In the specific implementation process, pseudorange single-point positioning is a positioning technology using the Global Navigation Satellite System (GNSS). The pseudorange observation value is the measured distance obtained by multiplying the propagation time of the ranging code signal emitted by the satellite to the receiver antenna by the speed of light. Due to the errors in the satellite clock and the receiver clock, as well as the delay of the satellite signal through the ionosphere and troposphere, the distance obtained is not equal to the geometric distance from the satellite to the receiver, so it is called pseudorange. The pseudorange residual refers to the difference between the satellite signal observed by the receiver and the actual distance. Single-point positioning is a positioning method that uses a receiver to receive satellite signals and determine the three-dimensional coordinates of the user in the ground fixed system. In pseudorange single-point positioning, the pseudoranges of more than four satellites and the known satellite positions are measured by the GNSS receiver at a certain moment, and the three-dimensional coordinates of the point where the receiver antenna is located are determined by the spatial resection method.

[0055] Specifically: According to the target observation data and target ephemeris, the receiver performs pseudo-range single-point positioning solution to obtain positioning error data and pseudo-range residual sequence, including:

[0056] According to the target observation data and target ephemeris, the SPP algorithm is used to perform pseudo-range single-point positioning on the receiver to obtain positioning error data and pseudo-range residual sequence.

[0057] In the specific implementation process, the SPP algorithm, namely the single point positioning algorithm, is a basic positioning method in the global navigation satellite system (GNSS), including the steps of data preparation, pseudo-range observation equation establishment, and solution process. In the data preparation process: Acquiring satellite signals: The receiver receives signals from multiple (at least four) GNSS satellites; Extracting observation data: Extracting pseudo-range measurement values, satellite orbital parameters (such as satellite position, speed, etc.) and clock bias information from the received satellite signals. In the establishment of pseudo-range observation equation: Pseudo-range calculation: The pseudo-range is an approximate distance obtained by multiplying the signal propagation time from the satellite to the receiver by the speed of light. Due to the errors in the satellite clock and the receiver clock, as well as the influence of factors such as atmospheric delay during signal propagation, the actual pseudo-range will deviate from the true distance; Observation equation: For each satellite, a pseudo-range observation equation can be established. These equations represent the difference between the pseudo-range and the true distance between the receiver and each satellite. The equation contains the three-dimensional position (longitude, latitude and altitude) of the receiver as unknowns, as well as the clock offset of the receiver. During the solution process: Initial value setting: Set the initial values ​​for the position and clock offset of the receiver. These initial values ​​can be any guessed values ​​or known approximate values; Iterative optimization: Use iterative optimization methods (such as the least squares method) to solve the nonlinear equations, and minimize the sum of squared residuals in all pseudorange observation equations by continuously adjusting the position and clock offset of the receiver; Error correction: In the iterative process, it is necessary to consider and correct various error sources, such as ionospheric delay, tropospheric delay, satellite and receiver clock differences, etc. These errors can be estimated and corrected through mathematical models. Finally, the results are output, and after iterative optimization, the final position coordinates (longitude, latitude and altitude) of the receiver and the clock offset of the receiver are obtained.

[0058] The pseudorange residual calculation formula is as follows:

[0059]

[0060] Where N is the number of satellites, A is the design matrix of the positioning settlement process, [X, Y, Z, T] represents the receiver position and receiver clock error parameters, and the root mean square error of the sequence is calculated through the residual matrix V, denoted as Sigma_RMS.

[0061] S40: Perform cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier.

[0062] In the specific implementation process, a cycle slip refers to the jump or interruption of the whole cycle count caused by the loss of satellite signal lock in the carrier phase measurement of the Global Navigation Satellite System (GNSS) technology. There are many reasons for the occurrence of cycle slips, mainly including: the satellite signal is blocked by an obstacle (such as high-rise buildings, mountains, trees, bridges, etc.) and cannot reach the receiver; the satellite signal noise ratio is too low, such as the satellite altitude angle is too low, the ionosphere changes drastically, or the multipath effect is too large; the receiver is in a relative motion state, such as in RTK measurement, it is seriously interfered by external factors, resulting in a temporary loss of satellite signal lock; the receiver or satellite fails, such as satellite oscillator failure, receiver software failure, etc., causing internal signal errors in the receiver.

[0063] There are many methods for cycle slip detection, such as high-order difference method, polynomial fitting method, and MW combination method. The embodiment of the present application provides a method based on GF combination value and MW combination value. Specifically, according to the target observation data and the target ephemeris, the receiver is subjected to cycle slip detection to obtain a cycle slip identifier, including:

[0064] According to the target observation data and target ephemeris, the MW value and GF value of the observation value are calculated;

[0065] The changes of the MW value and the GF value are determined according to the detection conditions to perform cycle slip detection on the receiver and obtain a cycle slip identifier.

[0066] In the specific implementation process, the MW value (observation value wide lane combination) and GF value (observation value without geometric distance combination) of the observation value at the current moment are calculated, and the calculation formula is as follows:

[0067] GF i =λ1Φ1-λ2Φ2

[0068]

[0069] In the above formula, P represents the pseudorange observation value, Φ represents the carrier phase observation value, λ represents the carrier phase wavelength of the corresponding frequency point, f represents the frequency, and the subscript represents the frequency number.

[0070] When the receiver is working normally, the change rate of the GF combination value and the MW combination value remains basically unchanged. If the signal is blocked or suppressed by deception, the value will jump sharply, and this change is identified by the cycle slip identifier.

[0071] Based on the combined GF and MW observation values ​​of the same satellite at two points in time, the difference between the previous and next epochs is performed to obtain the detection conditions, that is, the changes of the MW value and the GF value are judged according to the detection conditions to perform cycle slip detection on the receiver. Before obtaining the cycle slip identifier, the method also includes:

[0072] The detection conditions are obtained by performing epoch difference based on the MW and GF values ​​of the observations at two previous and subsequent time points.

[0073] The detection conditions are shown in the following formula, where the subscript i represents the epoch scale:

[0074] ΔGF=GF i -GF i-1

[0075] ΔMW i =MW i -MW i-1

[0076] Among them, ΔGF represents the detection condition of GF value, ΔMW i Indicates the detection conditions of MW value.

[0077] After obtaining the detection condition value, a preliminary detection threshold can be given for judgment. When the following formula is satisfied, it is considered that the receiver is operating continuously and stably:

[0078] ΔGF <Threshold GF

[0079] ΔMW i <Threshold MW

[0080] Among them, Threshold GF is the detection threshold for GF value determination, Threshold MW The detection threshold for MW value determination. The GF combination value is that all the values ​​used are high-precision carrier phase observation values, so the initial detection threshold is generally set very low, ranging from 0.05 ～ 0.1, and the MW combination value is introduced by the pseudo-range observation value with slightly weaker accuracy, and the initial detection threshold range can be between 5 ～ Between 10.

[0081] S50: Evaluate the GNSS service performance status based on the positioning error data, pseudorange residual sequence, cycle slip identifier, and carrier-to-noise ratio data of all satellites.

[0082] In the specific implementation process, the effective information of multiple dimensions output by the above steps is integrated and judged to give the GNSS service performance status at the current moment, which can provide a more accurate and detailed evaluation result of the GNSS service performance status with the support of multiple dimensional indicators. Specifically: Based on the positioning error data, pseudorange residual sequence, cycle slip identifier and the carrier-to-noise ratio data of all satellites, the GNSS service performance status is evaluated, including:

[0083] The GNSS service performance status is evaluated based on the size of the positioning error data and the set threshold value, whether the root mean square error value of the pseudorange residual sequence passes the chi-square test, the cycle slip identifier, the size of the standard deviation value of the carrier-to-noise ratio data of all satellites, and the size of the average value of the carrier-to-noise ratio data of all satellites and the average value threshold.

[0084] In the specific implementation process, the STD (standard deviation) and average value of the carrier-to-noise ratio data of all satellites at the current frequency are first calculated, and then a judgment is made based on the aforementioned output data. The GNSS service performance status can be defined as a spoofed state, a suppressed state, and a normal service state. At the same time, the interference level can also be output, that is, the GNSS service performance status is evaluated, including:

[0085] Evaluate the category and interference level of GNSS service performance status.

[0086] The judgment results include the following:

[0087] ① When the positioning error exceeds the set threshold value and the carrier-to-noise ratio STD value is less than 1.25, and a cycle slip occurs at the same time, it is judged as equal-power deception. The deception interference level is judged according to the positioning error value. If it exceeds enu_1 but does not exceed enu_2, it is judged as slight deception interference. If it exceeds enu_2 but does not exceed enu_3, it is judged as moderate deception interference. If it exceeds enu_3, it is judged as severe deception interference. In the above, enu_1, enu_2 and enu_3 represent a priori thresholds. The setting of the threshold will vary from place to place. The optional value-taking method is to collect positioning errors for a period of time, such as about a week, and count the RMS (root mean square error) value. enu_1 is 3 times the RMS, enu_2 is 5 times the RMS, and enu_3 is 7 times the RMS value.

[0088] ② When the positioning error exceeds the set threshold value and the carrier-to-noise ratio STD value is greater than 1.25, and a cycle slip occurs at the same time, it is judged as non-equal power deception. If it exceeds enu_1 but does not exceed enu_2, it is judged as slight deception interference. If it exceeds enu_2 but does not exceed enu_3, it is judged as moderate deception interference. If it exceeds enu_3, it is judged as severe deception interference.

[0089] ③When the positioning error is within the limit, but the RMS value of the pseudo-range residual sequence after positioning settlement does not pass the chi-square test, and the average value of the satellite carrier-to-noise ratio is lower than ave_1, it is judged as suppression interference. If the carrier-to-noise ratio is lower than ave_1 and greater than ave_2, it is judged as slight suppression. If the average carrier-to-noise ratio is less than ave_2 and greater than ave_, it is judged as moderate suppression interference. If the average carrier-to-noise ratio is lower than ave_3, it is judged as severe suppression interference. Similarly, ave_1, ave_2 and ave_3 represent the prior thresholds. The optional value selection method is also to collect a period of time, such as a week of original observation information, and calculate the RMS value. Ave_1, ave_2 and ave_3 take 3 times, 5 times and 7 times the RMS value as the threshold respectively. The basic idea of ​​the chi-square test is to compare the degree of deviation between the actual observation value and the theoretical inference value. This degree of deviation determines the size of the chi-square value. If the chi-square value is larger, the greater the deviation between the two; conversely, the smaller the deviation between the two. If the two values ​​are completely equal, the chi-square value is 0, indicating that the theoretical value is completely consistent with the actual observation value.

[0090] ④Other situations are judged as normal status.

[0091] After completing the evaluation of one frequency point at the current moment, report the evaluation result, and enter the next frequency point at the current moment, repeat the above steps for evaluation until all frequency points at the current moment are cycled and detected. Since there is an algorithm initialization threshold in the above steps, considering the improvement of the evaluation effect, the threshold set in the above steps is updated and optimized, that is, after evaluating the GNSS service performance status, the method also includes:

[0092] Determine the threshold update method according to whether the current time is in the startup time period;

[0093] Update the threshold value set during evaluation according to the threshold update method.

[0094] In the specific implementation process, if the current time period is the algorithm startup time period (for example, 30 epochs), the update method of the relevant threshold is to directly inherit the threshold of the previous epoch. If the startup time period has passed, the threshold is updated in the second way according to the established formula. Specifically, the ave threshold, enu threshold, Threshold_GF and Threshold_MW thresholds are updated according to the following formula:

[0095]

[0096] In the above formula, ave i 、enu i and Threshold iThey are the sequence values ​​of three thresholds respectively, and n represents that there may be gross errors. To avoid the influence of gross errors, the value farthest from the mean will be eliminated as the final sequence, and then the threshold will be updated according to the above formula.

[0097] After the threshold is updated, it is determined whether to enter the next frequency point or time, and the judgment evaluation is repeated, and the threshold is dynamically updated to continuously optimize the evaluation effect until the evaluation at the last epoch is completed, completing the evaluation of the GNSS service performance status.

[0098] In this embodiment, the original observation data of the global satellite navigation system output by the receiver and the ephemeris sent by the satellite are used for evaluation. Since the original observation data contains multi-dimensional indicators, more indicator support can be provided for the accurate evaluation of the GNSS service performance status. The evaluation is divided by frequency points by extracting the frequency points of the acquired data. The receiver is subjected to pseudo-range single-point positioning solution and cycle slip detection at each frequency point. The obtained positioning error data, pseudo-range residual sequence, cycle slip identifier, and the carrier-to-noise ratio data of all satellites are used to more accurately judge the current GNSS service performance status. The evaluation is a fusion judgment of the aforementioned multi-dimensional effective information, which can more finely divide the GNSS service performance status and achieve effective evaluation of the GNSS service performance status.

[0099] Refer to the attached Figure 3 , as attached Figure 3 In the implementation mode shown, the present application is further described for an epoch moment:

[0100] Starting from the current epoch, the GNSS raw observation data and ephemeris are obtained through each frame of real-time serial port data output by the navigation receiver;

[0101] After extracting satellite observation data and ephemeris at the frequency division point, SPP positioning solution is performed in sequence, and the positioning error ENU and pseudorange residual Sigma_RMS, GF and MW cycle slip detection are output, and the cycle slip identifier flag, the STD value and the average AVE of the carrier-to-noise ratio calculated by all satellites are given;

[0102] Next, determine whether ENU is greater than the threshold and whether STD is less than 1.25. If so, it is determined that GNSS has equal-power deception interference. If not, determine whether ENU is greater than the threshold and whether STD is greater than 1.25. If so, it is determined that GNSS has non-equal-power deception interference. After the consecutive judgments are all negative, make a third judgment to determine whether Sigma_RMS fails the chi-square test and AVE is less than 37. If yes, it is determined that GNSS has suppression interference. If not, it is determined that GNSS service performance is normal.

[0103] The gross error elimination operation of the threshold sequence can be performed, and the threshold update optimization can be performed, and then it is determined whether it is necessary to enter the next frequency point. If so, the data of the next frequency point is transferred to continue to repeat the above calculation and judgment until the evaluation is completed at all frequency points, or it is determined to be no, and the evaluation of the current epoch is completed.

[0104] Refer to the attached Figure 4 Based on the same inventive concept as in the above-mentioned embodiment, the embodiment of the present application further provides a GNSS service performance status evaluation device, comprising:

[0105] The acquisition module is used to obtain the GNSS original observation data output by the receiver and the ephemeris sent by the satellite;

[0106] Extraction module, which is used to extract GNSS original observation data and satellite-sent ephemeris at frequency points to obtain target observation data and target ephemeris;

[0107] A solution module is used to perform pseudo-range single-point positioning solution on the receiver according to the target observation data and the target ephemeris, and obtain the positioning error data and pseudo-range residual sequence;

[0108] The detection module is used to perform cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier;

[0109] The evaluation module is used to evaluate the GNSS service performance status based on the positioning error data, pseudorange residual sequence, cycle slip identifier and carrier-to-noise ratio data of all satellites.

[0110] Those skilled in the art should understand that the division of the various modules in the embodiment is merely a division of logical functions, and in actual application, all or part of them can be integrated into one or more actual carriers, and these modules can be implemented entirely in the form of software called by a processing unit, or entirely in the form of hardware, or in the form of a combination of software and hardware. It should be noted that each module in the GNSS service performance status evaluation device in this embodiment corresponds one-to-one to each step in the GNSS service performance status evaluation method in the aforementioned embodiment. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned GNSS service performance status evaluation method, which will not be repeated here.

[0111] Based on the same inventive concept as in the aforementioned embodiments, an embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, a GNSS service performance status evaluation method as provided in the embodiment of the present application is implemented.

[0112] Based on the same inventive concept as in the above-mentioned embodiment, an embodiment of the present application further provides an electronic device, including a processor and a memory, wherein:

[0113] The memory is used to store computer programs;

[0114] The processor is used to load and execute a computer program so that the electronic device executes the GNSS service performance status evaluation method provided in the embodiment of the present application.

[0115] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0116] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0117] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0118] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0119] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0120] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0122] In summary, the present application provides a GNSS service performance status evaluation method, device, medium and equipment, which includes: obtaining GNSS original observation data and satellite-sent ephemeris output by a receiver; extracting GNSS original observation data and satellite-sent ephemeris by frequency division points to obtain target observation data and target ephemeris; performing pseudo-range single-point positioning solution on the receiver according to the target observation data and target ephemeris to obtain positioning error data and pseudo-range residual sequence; performing cycle slip detection on the receiver according to the target observation data and target ephemeris to obtain a cycle slip identifier; and evaluating the GNSS service performance status according to the positioning error data, pseudo-range residual sequence, cycle slip identifier and carrier-to-noise ratio data of all satellites. This application uses the original observation data of the global satellite navigation system output by the receiver and the ephemeris sent by the satellite for evaluation. Since the original observation data contains multi-dimensional indicators, it can provide more indicator support for the accurate evaluation of the GNSS service performance status. By extracting the frequency points of the acquired data, the evaluation is divided by frequency points. The receiver is subjected to pseudo-range single-point positioning solution and cycle slip detection at each frequency point. The obtained positioning error data, pseudo-range residual sequence, cycle slip identifier, and the carrier-to-noise ratio data of all satellites are used to more accurately judge the current GNSS service performance status. The evaluation is a fusion judgment of the aforementioned multi-dimensional effective information, which can more finely divide the GNSS service performance status and achieve effective evaluation of the GNSS service performance status.

[0123] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A GNSS service performance status evaluation method, characterized in that: The following steps are involved: Obtain the GNSS raw observation data output by the receiver and the ephemeris sent by the satellite; The frequency division point extracts the GNSS original observation data and the ephemeris sent by the satellite to obtain target observation data and target ephemeris; According to the target observation data and the target ephemeris, performing pseudorange single-point positioning solution on the receiver to obtain positioning error data and pseudorange residual sequence; Performing cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier; The GNSS service performance status is evaluated according to the positioning error data, the pseudorange residual sequence, the cycle slip identifier and the carrier-to-noise ratio data of all satellites.

2. The GNSS service performance status evaluation method according to claim 1, characterized in that: The method of performing pseudo-range single-point positioning calculation on the receiver according to the target observation data and the target ephemeris to obtain positioning error data and a pseudo-range residual sequence includes: According to the target observation data and the target ephemeris, the SPP algorithm is used to perform pseudo-range single point positioning solution on the receiver to obtain positioning error data and pseudo-range residual sequence.

3. The GNSS service performance status evaluation method according to claim 1, characterized in that: The step of performing cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier includes: Calculating the MW value and the GF value of the observation value according to the target observation data and the target ephemeris; The changes of the MW value and the GF value are determined according to the detection conditions to perform cycle slip detection on the receiver and obtain a cycle slip identifier.

4. The GNSS service performance status evaluation method according to claim 3, characterized in that: Before determining the change of the MW value and the GF value according to the detection condition to perform cycle slip detection on the receiver and obtain a cycle slip identifier, the method further includes: The detection condition is obtained by performing epoch difference based on the MW value and the GF value of the observation value at two previous and subsequent time points.

5. The GNSS service performance status evaluation method according to claim 1, characterized in that: The evaluating the GNSS service performance status according to the positioning error data, the pseudorange residual sequence, the cycle slip identifier, and the carrier-to-noise ratio data of all satellites includes: The GNSS service performance status is evaluated based on the size of the positioning error data and the set threshold value, whether the root mean square error value of the pseudorange residual sequence passes the chi-square test, the cycle slip identifier, the size of the standard deviation value of the carrier-to-noise ratio data of all satellites, and the size of the average value of the carrier-to-noise ratio data of all satellites and the average value threshold.

6. The GNSS service performance status evaluation method according to claim 5, characterized in that: The evaluation of the GNSS service performance status includes: Evaluate the category and interference level of GNSS service performance status.

7. The GNSS service performance status evaluation method according to claim 5, characterized in that: After evaluating the GNSS service performance status, the method further includes: Determine the threshold update method according to whether the current time is in the startup time period; According to the threshold updating method, the threshold set during evaluation is updated.

8. A GNSS service performance status evaluation device, characterized in that: include: An acquisition module, which is used to acquire the GNSS original observation data output by the receiver and the ephemeris sent by the satellite; An extraction module, the extraction module is used to extract the GNSS original observation data and the ephemeris sent by the satellite at different frequency points to obtain target observation data and target ephemeris; A solution module, the solution module is used to perform pseudo-range single-point positioning solution on the receiver according to the target observation data and the target ephemeris, and obtain positioning error data and pseudo-range residual sequence; A detection module, the detection module is used to perform cycle slip detection on the receiver according to the target observation data and the target ephemeris to obtain a cycle slip identifier; An evaluation module is used to evaluate the GNSS service performance status according to the positioning error data, the pseudorange residual sequence, the cycle slip identifier and the carrier-to-noise ratio data of all satellites.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is loaded and executed by the processor, the GNSS service performance status evaluation method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store computer programs; The processor is used to load and execute the computer program so that the electronic device executes the GNSS service performance status evaluation method as described in any one of claims 1-7.

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