Method and apparatus for determining satellite clock error, program product, storage medium

Abstract

An embodiment of the present application provides a method and device for determining satellite clock error, a program product, and a storage medium. The method includes: determining site information of a ground monitoring station based on N sets of first navigation data sent by N first satellites; obtaining orbit information of a second satellite, where the orbit information of the second satellite is used to represent the motion trajectory of the second satellite; determining a target clock error based on the site information, the orbit information of the second satellite, and second navigation data sent by the second satellite, where the target clock error is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite. Through the present application, the problem in the related art of being unable to accurately calculate satellite clock error is solved, and the effect of accurately calculating satellite clock error is achieved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of communications. Specifically, the present application relates to a method and apparatus for determining satellite clock offset, a program product, and a storage medium. Background Art

[0002] Currently, the satellite clock offset of low-Earth orbit satellites is mainly solved through the Global Navigation Satellite System (GNSS) or ground satellite-ground link measurement and control. Among them, the solution method through the GNSS system is mainly to determine the precise orbit based on the pseudo-range phase observation data of the on-board receivers of low-Earth satellites, and at the same time solve the satellite clock offset. The ground satellite-ground link measurement and control is mainly based on two-way satellite-ground measurement and uses the method of two-way satellite-ground time and frequency transfer to achieve the solution of the satellite clock offset. The signal links of the above two methods are inconsistent with the broadcast link of the navigation augmentation service signal, and there is a systematic difference between the satellite clock offset of the low-Earth orbit satellites solved and the satellite clock offset applied to the navigation augmentation service, resulting in the problem that the satellite clock offset cannot be accurately solved, and the solved satellite clock offset of the low-Earth orbit satellites is difficult to be applied to the navigation augmentation service. Summary of the Invention

[0003] Embodiments of the present application provide a method and apparatus for determining satellite clock offset, a program product, and a storage medium, so as to at least solve the problem that the satellite clock offset cannot be accurately solved in the related art.

[0004] According to an embodiment of the present application, a method for determining satellite clock offset is provided, including: determining the site information of a ground monitoring station based on N sets of first navigation data sent by N first satellites, where the site information includes a first clock offset and a first position, the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the first satellite, the first position is used to represent the position of the ground monitoring station, and N is a natural number greater than or equal to 1; obtaining the orbit information of a second satellite, where the orbit information of the second satellite is used to represent the movement trajectory of the second satellite; determining a target clock offset based on the site information, the orbit information of the second satellite, and the second navigation data sent by the second satellite, where the target clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite.

[0005] In an exemplary embodiment, determining the site information of a ground monitoring station based on N groups of first navigation data sent by N first satellites includes: respectively receiving the N groups of first navigation data sent by the N first satellites through target links between the N first satellites and the ground monitoring station; determining the positions of the N first satellites based on the orbital information of the N first satellites in the N groups of first navigation data, where the orbital information of the first satellite is used to describe the motion trajectory of the first satellite; determining the first clock offset and the first position based on the positions of the N first satellites, the pseudoranges of the N first satellites included in the N groups of first navigation data, and the carrier observations of the N first satellites; determining the first clock offset and the first position as the site information; where the pseudorange of the first satellite is used to represent the pseudorange between the first satellite and the ground monitoring station.

[0006] In an exemplary embodiment, determining the first clock offset and the first position based on the positions of the N first satellites, the pseudoranges of the N first satellites included in the N groups of first navigation data, and the carrier observations of the N first satellites includes: inputting the positions of the N first satellites, the pseudoranges of the N first satellites, the first speed, and the first error into a first function to obtain N first equations, where the first function is a function representing the pseudorange, the first error is used to represent the error generated by signal transmission when acquiring the first navigation data, and the first speed is the speed of light in a vacuum; inputting the positions of the N first satellites, the carrier observations of the N first satellites, the first speed, and the first error into a second function to obtain N second equations, where the second function is a function representing the carrier observation; solving the N first equations and the N second equations to obtain the first clock offset and the first position.

[0007] In an exemplary embodiment, determining the target clock offset based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite includes: obtaining the position of the second satellite from the orbital information of the second satellite, where the position of the second satellite is used to represent the position of the second satellite in the global navigation satellite system; determining the target clock offset based on the position of the second satellite, the first clock offset and the first position included in the site information, the pseudorange of the second satellite included in the second navigation data, and the carrier observation of the second satellite, where the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the target global navigation satellite system, the first position is used to represent the position of the ground monitoring station, and the pseudorange of the second satellite is the pseudorange between the second satellite and the ground monitoring station.

[0008] In an exemplary embodiment, determining the target clock offset based on the position of the second satellite, the first clock offset and the first position included in the site information, the pseudorange of the second satellite included in the second navigation data, and the carrier observation value of the second satellite includes: inputting the position of the second satellite, the first position, the first clock offset, the pseudorange of the second satellite, and the second error into a third function to obtain a third equation, where the third function is a function for representing the pseudorange of the ionosphere-free combination, and the second error is used to represent the error generated by signal transmission when acquiring the second navigation data; inputting the position of the second satellite, the first position, the first clock offset, the carrier observation value of the second satellite, and the second error into a fourth function to obtain a fourth equation, where the fourth function is a function for representing the carrier observation value of the ionosphere-free combination; solving the third equation and the fourth equation to obtain the target clock offset.

[0009] In an exemplary embodiment, the first error includes at least one of the following: tropospheric error, ionospheric delay error of the reference frequency signal, the ratio of the ionospheric delay error of other frequency point signals to the ionospheric delay error of the reference frequency signal, time deviation between global navigation satellite systems, integer ambiguity corresponding to non-differential phase on other frequency point signals, and other errors, where the other frequency point signals include the frequency point signals when acquiring the first navigation data.

[0010] In an exemplary embodiment, the second error includes at least one of the following: tropospheric error, ionosphere-free combination ambiguity parameter, and other errors.

[0011] In an exemplary embodiment, the second satellite is a low Earth orbit satellite.

[0012] In an exemplary embodiment, the first satellite includes satellites in a global navigation satellite system.

[0013] According to an embodiment of the present application, a device for determining satellite clock error is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the memory. When the processor executes the computer program, the following operations are implemented: determining the site information of a ground monitoring station based on N sets of first navigation data sent by N first satellites, where the site information includes a first clock error and a first position, the first clock error is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the first satellite, the first position is used to represent the position of the ground monitoring station, and N is a natural number greater than or equal to 1; obtaining the orbital information of a second satellite, where the orbital information of the second satellite is used to represent the motion trajectory of the second satellite; determining a target clock error based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite, where the target clock error is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite.

[0014] According to another embodiment of the present application, a computer program product is further provided, including a computer program, and the computer program is configured to be executed by a processor to perform the steps in any one of the method embodiments.

[0015] According to another embodiment of the present application, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program is configured to be executed by a processor to perform the steps in any one of the method embodiments.

[0016] According to another embodiment of the present application, an electronic device is further provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor is configured to execute the computer program to perform the steps in any one of the method embodiments.

[0017] Through the present application, the site information of the ground monitoring station, the time deviation and geographical location of the ground monitoring station relative to the first satellite are determined based on N sets of first navigation data sent by N first satellites, and the orbital information of the second satellite is obtained. The difference between the site clock of the ground monitoring station and the satellite clock of the second satellite is determined based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite. Since the navigation data and orbital information obtained in the present application are both navigation signals broadcast from the satellite to the ground, and the navigation data and orbital information belong to different data sources: the ground monitoring station, the first satellite, and the second satellite, the systematic error generated when determining the satellite clock error is removed. Therefore, the problem of inaccurate calculation of satellite clock error in the related art is solved, and the effect of accurate calculation of satellite clock error is achieved. Description of the Drawings

[0018] Figure 1 is a hardware structure block diagram of a mobile terminal for a method of determining satellite clock error according to an embodiment of the present application;

[0019] Figure 2 is a flowchart of a method of determining satellite clock error according to an embodiment of the present application Figure 1 ;

[0020] Figure 3 is a flowchart of a method of determining satellite clock error in a specific embodiment of the present application Figure 2 ;

[0021] Figure 4 is a flowchart of a method of determining satellite clock error according to an embodiment of the present application Figure 3 ;

[0022] Figure 5 is a structure block diagram of a device for determining satellite clock error in a specific embodiment of the present application. Detailed implementation manners

[0023] In the following, embodiments of the present application will be described in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0024] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence.

[0025] The method embodiments provided in the embodiments of the present application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 is a hardware structure block diagram of a mobile terminal for a method of determining satellite clock error according to an embodiment of the present application. As Figure 1 shown, the mobile terminal may include one or more ( Figure 1 only one is shown in Figure 1 processors 102 (the processors 102 may include, but are not limited to, processing devices such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Among them, the above-mentioned mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that, Figure 1 the structure shown in Figure 1 is only schematic and does not limit the structure of the above-mentioned mobile terminal. For example, the mobile terminal may further include more or fewer components than

[0026] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to a method for determining satellite clock offset in an embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (Radio Frequency, abbreviated as RF) module, which is used to communicate with the Internet wirelessly.

[0028] In this embodiment, a method for determining satellite clock offset is provided. Figure 2 It is a flowchart of a method for determining satellite clock offset according to an embodiment of the present application. Figure 1 As Figure 2 shown, the process includes the following steps:

[0029] Step S202, determining the site information of the ground monitoring station based on N groups of first navigation data sent by N first satellites, where the above site information includes a first clock offset and a first position, the above first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the above first satellite, the above first position is used to represent the position of the ground monitoring station, and the above N is a natural number greater than or equal to 1;

[0030] In one embodiment, the Global Navigation Satellite System (GNSS) includes but is not limited to the Global Positioning System (GPS), the Beidou Satellite Navigation System, and the Galileo Satellite Navigation System (Galileo Satellite Navigation System, abbreviated as GALILEO).

[0031] In one embodiment, the first satellite includes, but is not limited to, satellites in the Global Positioning System (GPS), satellites in the BeiDou satellite navigation system, and satellites in the Galileo Satellite Navigation System (GALILEO).

[0032] In one embodiment, the first navigation data may be Global Navigation Satellite System (GNSS) navigation data, which includes, but is not limited to, the orbital information of the first satellite, clock bias, and GNSS carrier phase data observed by ground monitoring stations.

[0033] Step S204: Obtain the orbital information of the second satellite, where the orbital information of the second satellite is used to represent the motion trajectory of the second satellite.

[0034] In one embodiment, the second satellite receiver receives the observed third navigation data and sends the third navigation data to a processing center for orbit determination and clock bias solution of the second satellite to determine the orbital information of the second satellite. Among them, the orbit determination and clock bias solution of the second satellite can adopt dynamic methods. The processing center is the center for performing the solution process, including but not limited to an information processing center on the ground with a spatio-temporal information processing system, on-board, and satellite-borne receivers. In one embodiment, the third navigation data may be GNSS navigation data, which includes, but is not limited to, the orbital information of the first satellite, clock bias, and GNSS carrier phase data observed by the second satellite.

[0035] Step S206: Determine the target clock bias based on the above site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite, where the target clock bias is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite.

[0036] In one embodiment, the second navigation data may be near-earth orbit satellite navigation data, which includes, but is not limited to, the second satellite carrier phase data observed by ground monitoring stations.

[0037] In one embodiment, taking the information processing center on the ground with a spatio-temporal information processing system as the execution subject as an example for illustration, as Figure 3 shown, Figure 3 is the flow of a method for determining satellite clock bias in a specific embodiment of the present application Figure 2 The flow includes the following steps:

[0038] In S302, the ground monitoring station receiver obtains the GNSS navigation data sent by the first satellite;

[0039] In S304, the information processing center obtains the GNSS navigation data;

[0040] In S306, the information processing center performs precise point positioning processing on the GNSS navigation data to obtain the site information of the ground monitoring station;

[0041] In S308, the near-earth orbit satellite receiver obtains the GNSS navigation data sent by the first satellite;

[0042] In S310, the information processing center obtains the GNSS navigation data;

[0043] In S312, the information processing center performs orbit determination and clock bias solution for the near-earth orbit satellite on the GNSS navigation data to obtain the orbit information of the near-earth orbit satellite;

[0044] In S314, the ground monitoring station receiver obtains the near-earth orbit satellite navigation data sent by the near-earth orbit satellite;

[0045] In S316, the information processing center obtains the near-earth orbit satellite navigation data;

[0046] In S318, the information processing center determines the satellite clock bias based on the site information of the ground monitoring station, the orbit information of the near-earth orbit satellite, and the near-earth orbit satellite navigation data;

[0047] In S320, the satellite clock bias is fed back to the user equipment;

[0048] In S322, the user equipment applies the satellite clock bias to the navigation enhancement service.

[0049] In this embodiment, the execution subject of the above steps may be a terminal, a server, a specific processor set in the terminal or the server, or a processor or processing device set independently of the terminal or the server, but is not limited thereto.

[0050] Through the above steps, the site information of the ground monitoring station, the time deviation and geographical location of the ground monitoring station relative to the first satellite are determined based on N groups of first navigation data sent by N first satellites, and the orbit information of the second satellite is obtained. The difference between the site clock of the ground monitoring station and the satellite clock of the second satellite is determined based on the site information, the orbit information of the second satellite, and the second navigation data sent by the second satellite. Since the navigation data and orbit information obtained in this application are all navigation signals broadcast by the satellite to the ground, and at the same time the navigation data and orbit information belong to different data sources: the ground monitoring station, the first satellite and the second satellite, the systematic error of determining the satellite clock bias is removed. Therefore, the problem of unable to accurately calculate the satellite clock bias in the related art is solved, and the effect of accurately calculating the satellite clock bias is achieved.

[0051] In an exemplary embodiment, the site information of a ground monitoring station is determined based on N groups of first navigation data sent by N first satellites, including: receiving the N groups of first navigation data sent by the N first satellites respectively through the target links between the N first satellites and the ground monitoring station; determining the positions of the N first satellites based on the orbital information of the N first satellites in the N groups of first navigation data, where the orbital information of the first satellite is used to describe the motion trajectory of the first satellite; determining the first clock offset and the first position based on the positions of the N first satellites, the pseudoranges of the N first satellites included in the N groups of first navigation data, and the carrier observations of the N first satellites; determining the first clock offset and the first position as the site information; where the pseudorange of the first satellite is used to represent the pseudorange between the first satellite and the ground monitoring station.

[0052] In one embodiment, the target link is a link through which a first satellite broadcasts navigation signals to the ground. The N first satellites include but are not limited to satellites in GPS, satellites in the Beidou Satellite Navigation System, and satellites in the GALILEO system. The N groups of first navigation data include but are not limited to GPS navigation data, Beidou Satellite Navigation System navigation data, and GALILEO system navigation data. The carrier observation is obtained by resolving carrier phase data.

[0053] In one embodiment, a ground monitoring station receiver acquires GPS navigation data sent by GPS satellites, Beidou Satellite Navigation System navigation data sent by Beidou Satellite Navigation System satellites, and GALILEO system navigation data sent by GALILEO system satellites. An information processing center acquires the above navigation data, determines the positions of GPS satellites based on the orbital information of GPS navigation data, determines the positions of Beidou Satellite Navigation System satellites based on the orbital information of Beidou Satellite Navigation System navigation data, and determines the positions of GALILEO system satellites based on the orbital information of GALILEO system navigation data. The information processing center determines the difference between the site clock of the ground monitoring station and the satellite clock of GPS and the position of the ground monitoring station based on the positions of GPS satellites, Beidou Satellite Navigation System satellites, GALILEO system satellites, the pseudoranges of GPS satellites, the pseudoranges of Beidou Satellite Navigation System satellites, the pseudoranges of GALILEO system satellites, the carrier observations of GPS satellites, the carrier observations of Beidou Satellite Navigation System satellites, and the carrier observations of GALILEO system satellites.

[0054] In this embodiment, by utilizing the navigation data of N satellites, the error of a single satellite signal can be reduced, achieving the purpose of improving the accuracy and reliability of the position determination of the ground monitoring station. At the same time, by using the data of multiple satellites and comprehensively utilizing pseudorange and carrier observations, the robustness of the navigation system can be enhanced, reducing service interruptions caused by single satellite failures or signal interference, reducing the degrees of freedom in the satellite clock error resolution process, and achieving the purpose of high-precision and high-speed convergence.

[0055] In an exemplary embodiment, based on the positions of N of the above-mentioned first satellites, the pseudoranges of N of the above-mentioned first satellites included in N sets of the above-mentioned first navigation data, and the carrier observations of N of the above-mentioned first satellites, determining a first clock error and a first position includes: inputting the positions of N of the above-mentioned first satellites, the pseudoranges of N of the above-mentioned first satellites, a first velocity, and a first error into a first function to obtain N first equations, where the above-mentioned first function is a function representing pseudorange, the above-mentioned first error is used to represent the error generated by signal transmission when acquiring the above-mentioned first navigation data, and the above-mentioned first velocity is the speed of light in a vacuum; inputting the positions of N of the above-mentioned first satellites, the carrier observations of N of the above-mentioned first satellites, the above-mentioned first velocity, and the above-mentioned first error into a second function to obtain N second equations, where the above-mentioned second function is a function representing carrier observations; solving the N above-mentioned first equations and the N above-mentioned second equations to obtain the above-mentioned first clock error and the above-mentioned first position.

[0056] In one embodiment, the first function includes but is not limited to a function regarding GPS, a function regarding the Beidou satellite navigation system, and a function regarding the GALILEO system. For example:

[0057] , where represents the pseudorange of a GPS satellite, represents the distance between the ground monitoring station and the GPS satellite, represents the speed of light in a vacuum, represents the difference between the site clock of the ground monitoring station and the satellite clock of GPS, represents the tropospheric error, represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, represents the ionospheric delay error of the reference frequency signal, represents the non-modeled error of the pseudorange of the GPS satellite, including observation noise and multipath.

[0058] , where represents the pseudorange of a satellite of the Beidou satellite navigation system, represents the distance between the ground monitoring station and the satellite of the Beidou satellite navigation system, represents the speed of light in vacuum represents the difference between the site clock of the ground monitoring station and the satellite clock of the Beidou Satellite Navigation System, represents the time deviation between the Beidou Satellite Navigation System and GPS, represents the tropospheric error, represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, represents the ionospheric delay error of the reference frequency signal, represents the non-modeled error of the pseudorange of the Beidou Satellite Navigation System satellite, including observation noise and multipath.

[0059] , where, represents the pseudorange of the GALILEO system, represents the distance between the ground monitoring station and the GALILEO system satellite, represents the speed of light in vacuum, represents the difference between the site clock of the ground monitoring station and the satellite clock of the GALILEO system, represents the time deviation between the GALILEO system and GPS, represents the tropospheric error, represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, represents the ionospheric delay error of the reference frequency signal, represents the non-modeled error of the pseudorange of the GALILEO satellite, including observation noise and multipath.

[0060] In one embodiment, the second function includes but is not limited to a function related to GPS, a function related to the Beidou Satellite Navigation System, and a function related to the GALILEO system. For example:

[0061] , where, represents the carrier observation value of the GPS satellite, represents the distance between the ground monitoring station and the GPS satellite, represents the speed of light in vacuum represents the difference between the site clock of the ground monitoring station and the GPS clock, represents the tropospheric error, represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, represents the ionospheric delay error of the reference frequency signal, represents the cycle ambiguity corresponding to the non-differential phase of the GPS system on other frequency signals, Represents the non-modeled error of the carrier observation value of GPS satellites, including observation noise and multipath.

[0062] , where, Represents the carrier observation value of the satellite of the Beidou Satellite Navigation System, Represents the distance between the ground monitoring station and the satellite of the Beidou Satellite Navigation System, Represents the speed of light in vacuum Represents the difference between the site clock of the ground monitoring station and the satellite clock of the Beidou Satellite Navigation System, Represents the time deviation between the Beidou Satellite Navigation System and GPS, Represents the tropospheric error, Represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, Represents the ionospheric delay error of the reference frequency signal, Represents the integer ambiguity corresponding to the non-differenced phase of the Beidou Satellite Navigation System on other frequency signals, Represents the non-modeled error of the carrier observation value of the satellite of the Beidou Satellite Navigation System, including observation noise and multipath.

[0063] , where, Represents the pseudorange of the GALILEO system, Represents the distance between the ground monitoring station and the satellite of the GALILEO system, Represents the speed of light in vacuum, Represents the difference between the site clock of the ground monitoring station and the satellite clock of the GALILEO system, Represents the time deviation between the GALILEO system and GPS, Represents the tropospheric error, Represents the ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, Represents the ionospheric delay error of the reference frequency signal, Represents the integer ambiguity corresponding to the non-differenced phase of the GALILEO system on other frequency signals, Represents the non-modeled error of the carrier observation value of the GALILEO satellite, including observation noise and multipath.

[0064] In one embodiment, the positions, pseudorange and carrier observations of GPS satellites, the positions, pseudorange and carrier observations of BeiDou Navigation Satellite System (BDS) satellites, and the positions, pseudorange and carrier observations of GALILEO system satellites are respectively input into a function regarding GPS, a function regarding BDS, and a function regarding GALILEO system to obtain three first equations and three second equations. Based on the Kalman filtering method, the above six equations are solved to obtain the difference between the site clock of the ground monitoring station and the satellite clock of GPS and the position of the ground monitoring station.

[0065] In this embodiment, by using two independent functions (the first function and the second function) to process the pseudorange and carrier observations, the purpose of improving the robustness of data processing and reducing the uncertainty of a single data source is achieved. At the same time, in this embodiment, without calculating the relevant data of low-earth orbit satellites, the first position and the first clock difference can be determined, reducing the parameters to be estimated and achieving the purpose of reducing the computational complexity.

[0066] In an exemplary embodiment, determining the target clock difference based on the above site information, the orbit information of the second satellite, and the second navigation data sent by the second satellite includes: obtaining the position of the second satellite from the orbit information of the second satellite, where the position of the second satellite is used to represent the position of the second satellite in the global navigation satellite system; determining the target clock difference based on the position of the second satellite, the first clock difference and the first position included in the site information, the pseudorange of the second satellite and the carrier observation of the second satellite included in the second navigation data, where the first clock difference is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the target global navigation satellite system, the first position is used to represent the position of the ground monitoring station, and the pseudorange of the second satellite is the pseudorange between the second satellite and the ground monitoring station.

[0067] In one embodiment, the second satellite receiver receives the observed third navigation data and sends the third navigation data to the processing center for orbit determination and clock difference solution of the second satellite to determine the orbit information of the second satellite. The orbit determination and clock difference solution of the second satellite can adopt a dynamic method. The processing center is the center for performing the solution processing, including but not limited to the information processing center with a spatio-temporal information processing system on the ground, on-board, and satellite-borne receivers. In this embodiment, by combining the orbit information of the second satellite, the site information, and the second navigation data, the target clock difference is determined. The navigation data and the orbit information belong to different data sources, achieving the purpose of improving the accuracy and robustness of satellite clock difference solution.

[0068] In an exemplary embodiment, based on the position of the second satellite, the first clock offset and the first position included in the above site information, the pseudorange of the second satellite and the carrier observation value of the second satellite included in the above second navigation data, determining the target clock offset includes: inputting the position of the second satellite, the first position, the first clock offset, the pseudorange of the second satellite and the second error into a third function to obtain a third equation, where the third function is a function for representing the pseudorange of the ionosphere-free combination, and the second error is used to represent the error generated by signal transmission when obtaining the second navigation data; inputting the position of the second satellite, the first position, the first clock offset, the carrier observation value of the second satellite and the second error into a fourth function to obtain a fourth equation, where the fourth function is a function for representing the carrier observation value of the ionosphere-free combination; solving the third equation and the fourth equation to obtain the target clock offset.

[0069] In one embodiment, the third function includes but is not limited to a function regarding the second satellite and the ground monitoring station. For example: , where represents the pseudorange of the ionosphere-free combination, represents the ionosphere-free combination, represents the ground monitoring station, represents the second satellite, represents the distance between the ground monitoring station and the second satellite, represents the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite, represents the difference between the site clock of the ground monitoring station and the satellite clock of GPS, represents the tropospheric error, represents the non-modeled error, including observation noise and multipath. Where the distance between the ground monitoring station and the second satellite is determined by the first position and the position of the second satellite.

[0070] In one embodiment, the fourth function includes but is not limited to a function regarding the second satellite and the ground monitoring station. For example: , where represents the carrier observation value of the ionosphere-free combination, represents the ionosphere-free combination, represents the ground monitoring station, represents the second satellite, represents the distance between the ground monitoring station and the second satellite, represents the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite, represents the difference between the site clock of the ground monitoring station and the satellite clock of GPS, Indicates the ambiguity parameter of the ionosphere-free combination, Indicates the tropospheric error, Indicates the non-modeled error, including observation noise and multipath. Among them, The distance between the ground monitoring station and the second satellite is determined by the first position and the position of the second satellite.

[0071] In one embodiment, the position of the second satellite, the difference between the station clock of the ground monitoring station and the satellite clock of GPS, and the position of the ground monitoring station, the pseudorange of the second satellite included in the second navigation data, and the carrier observation value of the second satellite are respectively input into the function regarding the second satellite and the ground monitoring station to obtain one third equation and one fourth equation. Based on the Kalman filtering method or the batch least squares method, the above two equations are solved to obtain the difference between the station clock of the ground monitoring station and the satellite clock of the second satellite.

[0072] This embodiment realizes the purpose of improving the robustness of data processing and reducing the uncertainty of a single data source by using two independent functions (the third function and the fourth function) to process pseudorange and carrier observations.

[0073] In an exemplary embodiment, the above first error includes at least one of the following: tropospheric error, ionospheric delay error of the reference frequency signal, ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, time deviation between global navigation satellite systems, integer ambiguity corresponding to non-differential phase on other frequency signals, and other errors, where the above other frequency signals include the frequency signals when obtaining the first navigation data.

[0074] In an exemplary embodiment, the above second error includes at least one of the following: tropospheric error, ambiguity parameter of the ionosphere-free combination, and other errors.

[0075] In an exemplary embodiment, the above second satellite is a low Earth orbit satellite.

[0076] In an exemplary embodiment, the above first satellite includes satellites in the global navigation satellite system.

[0077] In one embodiment, GNSS includes but is not limited to GPS, Beidou Navigation Satellite System, and GALILEO system. The above embodiments all describe the present invention from a single-sided perspective. For ease of understanding, the present invention will be described below in conjunction with specific embodiments:

[0078] Figure 4 Is the flow of a method for determining satellite clock offset according to an embodiment of the present application Figure 3 , as Figure 4 shown, includes the following steps:

[0079] S402, the ground monitoring station receiver obtains GPS navigation data sent by GPS satellites, Beidou satellite navigation system navigation data sent by Beidou satellite navigation system satellites, and GALILEO system navigation data sent by GALILEO system satellites;

[0080] The information processing center obtains the above navigation data, determines the positions of GPS satellites based on the orbit information of GPS navigation data, determines the positions of Beidou satellite navigation system satellites based on the orbit information of Beidou satellite navigation system navigation data, and determines the positions of GALILEO system satellites based on the orbit information of GALILEO system navigation data;

[0081] The positions, pseudorange and carrier observations of GPS satellites, the positions, pseudorange and carrier observations of Beidou satellite navigation system satellites, and the positions, pseudorange and carrier observations of GALILEO system satellites are respectively input into the functions regarding GPS: 、 , the functions regarding the Beidou satellite navigation system: 、 the functions regarding the GALILEO system 、 to obtain three equations regarding pseudorange and three second equations regarding carrier observations. Solve the above six equations based on the Kalman filtering method to obtain the difference between the site clock of the ground monitoring station and the satellite clock of GPS and the position of the ground monitoring station;

[0082] S404, the low Earth orbit satellite receiver receives GNSS navigation data; the information processing center obtains the GNSS navigation data, performs orbit determination and clock error solution based on the GNSS navigation data to obtain the position of the low Earth orbit satellite;

[0083] S406, the ground monitoring station receiver receives the low Earth orbit satellite navigation data; the information processing center obtains the low Earth orbit satellite navigation data, and inputs the difference between the site clock of the ground monitoring station and the satellite clock of GPS obtained from S402, the position of the ground monitoring station, the position of the low Earth orbit satellite obtained from S404, and the pseudorange and carrier observations of the ionosphere-free combination in the low Earth orbit satellite navigation data into to obtain the difference between the site clock of the ground monitoring station and the satellite clock of the low Earth orbit satellite;

[0084] S408, the information processing center broadcasts the difference between the site clock of the ground monitoring station and the satellite clock of the low Earth orbit satellite obtained as the satellite clock error of the navigation augmentation service to users to achieve the self-consistency of the time difference between the low Earth orbit navigation augmentation service and the global navigation satellite system service.

[0085] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present application.

[0086] In this embodiment, a satellite clock offset determination device is further provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated.

[0087] Figure 5 is a structural block diagram of a satellite clock offset determination device according to a specific embodiment of the present application. As Figure 5 shown, the device 502 includes: a memory 504, a processor 506, and a computer program stored on and executable on the above memory. When the above processor executes the above computer program, the following operations are implemented: determining the site information of the ground monitoring station based on N groups of first navigation data sent by N first satellites, where the above site information includes a first clock offset and a first position, the above first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the above first satellite, the above first position is used to represent the position of the ground monitoring station, and N is a natural number greater than or equal to 1; obtaining the orbit information of a second satellite, where the above orbit information of the second satellite is used to represent the movement trajectory of the second satellite; determining a target clock offset based on the above site information, the above orbit information of the second satellite, and the second navigation data sent by the second satellite, where the above target clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite.

[0088] When the above-mentioned processor executes the above-mentioned computer program, it can determine the site information of the ground monitoring station based on N groups of first navigation data sent by N first satellites in the following manner, including: receiving N groups of the first navigation data sent by the N first satellites respectively through the target links between the N first satellites and the ground monitoring station; determining the positions of the N first satellites based on the orbital information of the N first satellites in the N groups of the first navigation data, where the orbital information of the first satellite is used to describe the motion trajectory of the first satellite; determining the first clock error and the first position based on the positions of the N first satellites, the pseudo-ranges of the N first satellites included in the N groups of the first navigation data, and the carrier observations of the N first satellites; determining the first clock error and the first position as the site information; where the pseudo-range of the first satellite is used to represent the pseudo-range between the first satellite and the ground monitoring station.

[0089] When the above-mentioned processor executes the above-mentioned computer program, it can also determine the first clock error and the first position based on the positions of the N first satellites, the pseudo-ranges of the N first satellites included in the N groups of the first navigation data, and the carrier observations of the N first satellites in the following manner, including: inputting the positions of the N first satellites, the pseudo-ranges of the N first satellites, the first speed, and the first error into a first function to obtain N first equations, where the first function is a function representing the pseudo-range, the first error is used to represent the error generated by signal transmission when obtaining the first navigation data, and the first speed is the speed of light in vacuum; inputting the positions of the N first satellites, the carrier observations of the N first satellites, the first speed, and the first error into a second function to obtain N second equations, where the second function is a function representing the carrier observation; solving the N first equations and the N second equations to obtain the first clock error and the first position.

[0090] When the above-mentioned processor executes the above-mentioned computer program, it can also determine the target clock error based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite in the following manner, including: obtaining the position of the second satellite from the orbital information of the second satellite, where the position of the second satellite is used to represent the position of the second satellite in the global navigation satellite system; determining the target clock error based on the position of the second satellite, the first clock error and the first position included in the site information, the pseudo-range of the second satellite included in the second navigation data, and the carrier observation of the second satellite, where the first clock error is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the target global navigation satellite system, the first position is used to represent the position of the ground monitoring station, and the pseudo-range of the second satellite is the pseudo-range between the second satellite and the ground monitoring station.

[0091] When the above-mentioned processor executes the above-mentioned computer program, the target clock error can be determined based on the position of the above-mentioned second satellite, the first clock error and the first position included in the above-mentioned site information, the pseudorange of the above-mentioned second satellite included in the above-mentioned second navigation data, and the carrier observation value of the above-mentioned second satellite in the following manner, including: inputting the position of the above-mentioned second satellite, the above-mentioned first position, the above-mentioned first clock error, the pseudorange of the above-mentioned second satellite, and the second error into a third function to obtain a third equation, where the above-mentioned third function is a function used to represent the pseudorange of the ionosphere-free combination, and the above-mentioned second error is used to represent the error generated during signal transmission when obtaining the above-mentioned second navigation data; inputting the position of the above-mentioned second satellite, the above-mentioned first position, the above-mentioned first clock error, the carrier observation value of the above-mentioned second satellite, and the above-mentioned second error into a fourth function to obtain a fourth equation, where the above-mentioned fourth function is a function used to represent the carrier observation value of the ionosphere-free combination; solving the above-mentioned third equation and the above-mentioned fourth equation to obtain the above-mentioned target clock error.

[0092] In an exemplary embodiment, the above-mentioned first error includes at least one of the following: tropospheric error, ionospheric delay error of the reference frequency signal, ratio of the ionospheric delay error of other frequency point signals to the ionospheric delay error of the reference frequency signal, time deviation between global navigation satellite systems, integer ambiguity corresponding to non-differenced phase on other frequency point signals, and other errors, where the above-mentioned other frequency point signals include the frequency point signals when obtaining the above-mentioned first navigation data.

[0093] In an exemplary embodiment, the above-mentioned second error includes at least one of the following: tropospheric error, ionosphere-free combination ambiguity parameter, and other errors.

[0094] In an exemplary embodiment, the above-mentioned second satellite is a low Earth orbit satellite.

[0095] In an exemplary embodiment, the above-mentioned first satellite includes satellites in the global navigation satellite system.

[0096] An embodiment of the present application provides a computer program product, including a computer program, and when the above-mentioned computer program is executed by a processor, the steps in any one of the above-mentioned method embodiments are implemented.

[0097] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program is configured to execute the steps in any one of the above-mentioned method embodiments when running.

[0098] In an exemplary embodiment, the above computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs such as USB flash drives, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disks, magnetic disks, or optical discs.

[0099] An embodiment of the present application further provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0100] In an exemplary embodiment, the above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0101] Specific examples in this embodiment may refer to the examples described in the above embodiments and exemplary embodiments, and will not be elaborated here.

[0102] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order from here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0103] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining satellite clock offset, characterized in that, Including: Determining site information of a ground monitoring station based on N groups of first navigation data sent by N first satellites, where the site information includes a first clock offset and a first position, the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the first satellite, the first position is used to represent the position of the ground monitoring station, and N is a natural number greater than or equal to 1; Obtaining orbit information of a second satellite, where the orbit information of the second satellite is used to represent the motion trajectory of the second satellite; Determining a target clock offset based on the site information, the orbit information of the second satellite, and second navigation data sent by the second satellite, where the target clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite; Determining a target clock offset based on the site information, the orbit information of the second satellite, and second navigation data sent by the second satellite includes: obtaining the position of the second satellite from the orbit information of the second satellite, where the position of the second satellite is used to represent the position of the second satellite in the global navigation satellite system; determining the target clock offset based on the position of the second satellite, the first clock offset and the first position included in the site information, the pseudorange of the second satellite included in the second navigation data, and the carrier observation value of the second satellite, where the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the target global navigation satellite system, the first position is used to represent the position of the ground monitoring station, and the pseudorange of the second satellite is the pseudorange between the second satellite and the ground monitoring station.

2. The method according to claim 1, characterized in that, Determining site information of a ground monitoring station based on N groups of first navigation data sent by N first satellites includes: Receiving N groups of the first navigation data sent by the N first satellites respectively through target links between the N first satellites and the ground monitoring station; Determining the positions of the N first satellites based on the orbit information of the N first satellites in the N groups of the first navigation data, where the orbit information of the first satellite is used to describe the motion trajectory of the first satellite; Determining the first clock offset and the first position based on the positions of the N first satellites, the pseudoranges of the N first satellites included in the N groups of the first navigation data, and the carrier observation values of the N first satellites; Determining the first clock offset and the first position as the site information; where the pseudorange of the first satellite is used to represent the pseudorange between the first satellite and the ground monitoring station.

3. The method according to claim 2, wherein Determining a first clock offset and a first position based on the positions of the N first satellites, the pseudoranges of the N first satellites included in the N groups of the first navigation data, and the carrier observation values of the N first satellites includes: Input the positions of the N first satellites, the pseudoranges of the N first satellites, the first velocity, and the first error into a first function to obtain N first equations, where the first function is a function representing the pseudorange, the first error is used to represent the error generated during signal transmission when acquiring the first navigation data, and the first velocity is the speed of light in a vacuum; Input the positions of the N first satellites, the carrier observations of the N first satellites, the first velocity, and the first error into a second function to obtain N second equations, where the second function is a function representing the carrier observations; Solve the N first equations and the N second equations to obtain the first clock offset and the first position.

4. The method according to claim 1, wherein Determine the target clock offset based on the position of the second satellite, the first clock offset and the first position included in the site information, the pseudorange of the second satellite and the carrier observation of the second satellite included in the second navigation data, including: Input the position of the second satellite, the first position, the first clock offset, the pseudorange of the second satellite, and the second error into a third function to obtain a third equation, where the third function is a function used to represent the pseudorange of the ionosphere-free combination, and the second error is used to represent the error generated during signal transmission when acquiring the second navigation data; Input the position of the second satellite, the first position, the first clock offset, the carrier observation of the second satellite, and the second error into a fourth function to obtain a fourth equation, where the fourth function is a function used to represent the carrier observation of the ionosphere-free combination; Solve the third equation and the fourth equation to obtain the target clock offset.

5. The method according to claim 3, characterized in that, The first error includes at least one of the following: Tropospheric error, ionospheric delay error of the reference frequency signal, ratio of the ionospheric delay error of other frequency signals to the ionospheric delay error of the reference frequency signal, time deviation between global navigation satellite systems, integer ambiguity corresponding to the non-differenced phase on other frequency signals, and other errors, where the other frequency signals include the frequency signals when acquiring the first navigation data.

6. The method according to claim 4, wherein The second error includes at least one of the following: Tropospheric error, ionosphere-free combination ambiguity parameter, and other errors.

7. The method according to claim 1, wherein The second satellite is a low Earth orbit satellite.

8. The method according to claim 1, characterized in that, The first satellites include the satellites in the global navigation satellite system.

9. An apparatus for determining satellite clock offset, comprising: A memory, a processor, and a computer program stored on the memory and executable on the memory, wherein when the processor executes the computer program, the following operations are implemented: Determine the site information of the ground monitoring station based on N sets of first navigation data sent by N first satellites, where the site information includes a first clock offset and a first position, the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the first satellite, and the first position is used to represent the position of the ground monitoring station, and N is a natural number greater than or equal to 1; Obtain the orbital information of the second satellite, where the orbital information of the second satellite is used to represent the motion trajectory of the second satellite; Determine a target clock offset based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite, where the target clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the second satellite; When the processor executes the computer program, the target clock offset can also be determined based on the site information, the orbital information of the second satellite, and the second navigation data sent by the second satellite in the following manner: obtain the position of the second satellite from the orbital information of the second satellite, where the position of the second satellite is used to represent the position of the second satellite in the global navigation satellite system; determine the target clock offset based on the position of the second satellite, the first clock offset and the first position included in the site information, the pseudorange of the second satellite and the carrier observation value of the second satellite included in the second navigation data, where the first clock offset is used to represent the difference between the site clock of the ground monitoring station and the satellite clock of the target global navigation satellite system, the first position is used to represent the position of the ground monitoring station, and the pseudorange of the second satellite is the pseudorange between the second satellite and the ground monitoring station.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium, characterized in that, A computer program is stored in the computer-readable storage medium, where when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When executed, the steps of the method according to any one of claims 1 to 8 are implemented.

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