Time service method and system based on satellite-based enhancement service

Abstract

The invention relates to a time service method and system based on satellite-based enhancement service, and the method comprises the steps: receiving satellite positioning data transmitted by a preset satellite navigation system; the method comprises the following steps: based on satellite positioning data, solving position monitoring information and position prediction information of a satellite through a differential positioning algorithm of a satellite-based enhancement service SBAS; judging whether a preset satellite navigation system is available or not based on the position prediction information; if the time service receiving device is available, correcting an internal clock of the time service receiving device in real time based on the position monitoring information; and if not, the internal clock of the time service receiving device is operated in a punctuality manner. According to the method and the device, the position monitoring information and the position prediction information of the satellite are obtained through the SBAS differential positioning algorithm, whether the satellite is available or not is similarly judged based on the position monitoring information so as to improve the reliability of subsequent satellite time service, and then time service correction is performed based on the position prediction information so as to improve the accuracy. The problem of how to improve the accuracy and reliability of satellite time service is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a timing method and system based on satellite-based augmented services. Background Art

[0002] In the satellite timing system, the satellite broadcasts the time information of the atomic clock in a separate way from the navigation positioning signal. After receiving the timing signal, the ground receiver compares it with the received navigation positioning signal and calculates the time difference of signal propagation to obtain the current time of the receiver. However, since the propagation process of the timing signal is affected by environmental factors such as the atmosphere, error correction is required. Although satellite timing technology has been widely used in many fields, there are still some problems and challenges:

[0003] Satellite signals may be weak or unavailable in certain areas and environmental conditions, which results in a lack of accuracy and reliability in time synchronization in some areas. In addition, the uneven distribution of timing equipment will also affect the reliability of time synchronization.

[0004] Currently, no effective solution has been proposed for how to improve the accuracy and reliability of satellite timing in related technologies. Summary of the invention

[0005] The embodiments of the present application provide a timing method and system based on satellite-based augmentation services to at least solve the problem of how to improve the accuracy and reliability of satellite timing in the related art.

[0006] In a first aspect, an embodiment of the present application provides a timing method based on a satellite-based augmentation service, the method comprising:

[0007] Receive satellite positioning data sent by a preset satellite navigation system;

[0008] Based on the satellite positioning data, the position monitoring information and position prediction information of the satellites in the preset satellite navigation system are obtained by using the differential positioning algorithm of the satellite-based augmentation service (SBAS);

[0009] Based on the position prediction information, determining whether the preset satellite navigation system is available;

[0010] If the preset satellite navigation system is available, the internal clock of the timing receiving device is corrected in real time based on the position monitoring information;

[0011] If the preset satellite navigation system is unavailable, the internal clock of the timing receiving device will run on time.

[0012] In some embodiments, receiving satellite positioning data sent by a preset satellite navigation system includes:

[0013] Receive satellite positioning data sent by a preset satellite navigation system through a timing receiving device, and send the satellite positioning data to the power space-time service platform;

[0014] The satellite positioning data is preprocessed through the electric power space-time service platform to obtain preprocessed satellite positioning data.

[0015] In some embodiments, the satellite positioning data is preprocessed by the power space-time service platform to obtain the preprocessed satellite positioning data including:

[0016] The satellite positioning data is broadcasted and processed by the power space-time service platform to ensure that the pseudo-range transmitted by the satellite is not distorted and the signal power is at a normal level;

[0017] Performing data quality monitoring and processing on the satellite positioning data through the power space-time service platform to ensure that the received satellite positioning data is sufficiently reliable;

[0018] The satellite positioning data is subjected to measurement value quality monitoring processing by the electric power space-time service platform to ensure the consistency of pseudo-range measurement and carrier phase measurement of the received satellite positioning data;

[0019] Based on the broadcast signal quality monitoring process, the data quality monitoring process and the measurement value quality monitoring process, pre-processed satellite positioning data is obtained.

[0020] In some embodiments, the broadcast signal quality monitoring process of the satellite positioning data by the power space-time service platform includes:

[0021] Performing a carrier-to-noise ratio detection of the broadcast signal of the satellite positioning data through the electric power space-time service platform, and retaining the satellite positioning data whose carrier-to-noise ratio value is greater than a preset threshold value;

[0022] The satellite positioning data is subjected to pseudorange-carrier deviation detection through the electric power space-time service platform, and the satellite positioning data whose pseudorange-carrier deviation is less than a preset deviation threshold is retained.

[0023] In some embodiments, performing carrier-to-noise ratio detection of broadcast signals on the satellite positioning data through the power space-time service platform, and retaining satellite positioning data with a carrier-to-noise ratio greater than a preset threshold value includes:

[0024] Based on the satellite positioning data, the power space-time service platform calculates the average value of the carrier-to-noise ratio of satellite n received by the timing receiving device m at the current moment and the previous moment:

[0025]

[0026] The satellite positioning data whose average carrier-to-noise ratio is greater than the preset threshold is retained, where C / N 0,m,n (k) is the carrier-to-noise ratio of satellite n received by timing receiver m at the current moment, C / N 0,m,n (k-1) is the carrier-to-noise ratio of satellite n received by timing receiving device m at the previous moment.

[0027] In some embodiments, performing data quality monitoring on the satellite positioning data through the power spatiotemporal service platform includes:

[0028] The satellite positioning data is verified by satellite ephemeris through the electric power space-time service platform, and the satellite positioning data sent by the satellite that has passed the satellite ephemeris verification is retained.

[0029] In some embodiments, performing satellite ephemeris verification on the satellite positioning data through the electric power space-time service platform, and retaining the satellite positioning data sent by the satellite that has passed the satellite ephemeris verification includes:

[0030] Based on the satellite positioning data, the absolute value of the difference between the new ephemeris satellite position and the old ephemeris satellite position of the satellite is calculated by the electric power space-time service platform:

[0031] Δp s =|pl s (k)-p2 s (k)|

[0032] The satellite positioning data whose absolute value is less than the preset verification threshold is retained, where: is the new ephemeris satellite position of satellite s at the kth moment, rx1, ry1 and rz1 are the three-dimensional position coordinates of the satellite calculated using the new ephemeris data of satellite s, is the old ephemeris satellite position of satellite s at the kth moment, rx2, ry2 and rz2 are the three-dimensional position coordinates of the satellite calculated using the old ephemeris data of satellite s.

[0033] In some embodiments, performing measurement value quality monitoring processing on the satellite positioning data through the power spatiotemporal service platform includes:

[0034] Perform carrier phase cycle slip detection on the satellite positioning data through the power space-time service platform, and retain satellite positioning data with normal carrier phase measurement values;

[0035] The electric power space-time service platform performs carrier smoothing code variation detection on the satellite positioning data, and retains the satellite positioning data with normal smoothing code pseudorange.

[0036] In some of the embodiments, the preset satellite navigation system is the Beidou satellite navigation system.

[0037] In a second aspect, an embodiment of the present application provides a timing system based on satellite-based augmented services, the system being used to execute the method described in the first aspect above, the system comprising an electric power space-time service platform and a timing receiving device;

[0038] The electric power space-time service platform is used to receive satellite positioning data sent by a preset satellite navigation system;

[0039] The electric power space-time service platform is used to obtain the position monitoring information and position prediction information of the satellite in the preset satellite navigation system through the differential positioning algorithm of the satellite-based augmentation service (SBAS) according to the satellite positioning data;

[0040] The timing receiving device corrects the internal clock in real time according to the position monitoring information and the position prediction information.

[0041] Compared with the related art, the embodiment of the present application provides a timing method and system based on satellite-based augmentation service, wherein the method receives satellite positioning data sent by a preset satellite navigation system; based on the satellite positioning data, the position monitoring information and position prediction information of the satellite in the preset satellite navigation system are obtained through the differential positioning algorithm of the satellite-based augmentation service (SBAS); based on the position prediction information, whether the preset satellite navigation system is available is determined; if the preset satellite navigation system is available, the internal clock of the timing receiving device is corrected in real time based on the position monitoring information; if the preset satellite navigation system is not available, the internal clock of the timing receiving device runs on time, thereby realizing the position monitoring information and position prediction information of the satellite obtained through the SBAS differential positioning algorithm, and similarly determining whether the satellite is available based on the position monitoring information to improve the reliability of subsequent satellite timing, and then performing timing correction based on the position prediction information to improve the accuracy, thereby solving the problem of how to improve the accuracy and reliability of satellite timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 is a flowchart of the steps of a timing method based on a satellite-based augmentation service according to an embodiment of the present application;

[0044] Figure 2 It is a structural flow diagram of a timing method for satellite-based augmentation service according to an embodiment of the present application;

[0045] Figure 3 It is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0047] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0048] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0049] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0050] The present application embodiment provides a timing method based on satellite-based augmentation service. Figure 1 is a flowchart of the steps of the timing method based on satellite-based augmentation service according to an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0051] Step S102, receiving satellite positioning data sent by a preset satellite navigation system;

[0052] Specifically, step S102: Figure 2 is a schematic diagram of the structural flow of the timing method of the satellite-based augmentation service according to an embodiment of the present application, such as Figure 2 As shown, the timing receiving device receives satellite positioning data sent by satellites in a preset satellite navigation system through an antenna, and the satellite positioning data specifically includes ephemeris data, almanac data and pseudo-range data, and sends it to the power space-time service platform through the power dedicated network. Preferably, the preset satellite navigation system is preferably the Beidou satellite navigation system.

[0053] It should be noted that ephemeris data refers to data that describes the precise orbital parameters of a satellite. These parameters include the position, velocity, acceleration, etc. of the satellite, which are used to determine the exact position of the satellite at a certain moment. In other words, ephemeris data is crucial to achieving high-precision positioning. By decoding the ephemeris data in the satellite signal, the user receiver can calculate the precise position of the satellite at a certain moment, and then calculate the user's position; ephemeris data is also used to predict the orbital position of the satellite in the future. Almanac data refers to data that describes the approximate orbital parameters of the satellite. These parameters provide approximate position information of the satellite, which is not as accurate as ephemeris data. It is used to help the receiver quickly capture satellite signals. When the receiver is started for the first time or has not been used for a long time, the almanac data can be used to quickly find visible satellites and speed up the initialization process. Pseudorange data refers to the distance measurement value from the user receiver to the satellite, but this distance value includes the influence of multiple factors such as the receiver clock error, ionospheric delay, tropospheric delay, etc., so it is called "pseudorange", and the accuracy needs to be improved through correction algorithms.

[0054] Step S104, based on the satellite positioning data, using the satellite-based augmentation service (SBAS) differential positioning algorithm, obtain the position monitoring information and position prediction information of the satellites in the preset satellite navigation system;

[0055] Specifically, step S104 is as follows: Figure 2 As shown, the electric power space-time service platform, based on the received satellite positioning data, uses the differential positioning algorithm of the satellite-based augmentation service (SBAS) to solve the position monitoring information and position prediction information of the satellite in the preset satellite navigation system, and returns it to the timing receiving device, wherein the position monitoring information specifically includes UTC time, number of satellites, satellite number, satellite status, current positioning error, protection level parameters, system availability, etc., and the position prediction information specifically includes predicted UTC time, DOP parameters, predicted current protection level parameters, predicted system availability, etc.

[0056] It should be noted that Satellite-Based Augmentation Sever (SBAS) is a technology that enhances the performance of the existing Global Navigation Satellite System (GNSS) through geostationary orbit (GEO) satellites. SBAS provides a variety of differential positioning algorithms to improve the positioning accuracy, integrity, continuity and availability of GNSS. Preferably, the SBAS of the BeiDou Satellite Navigation System is BDSBAS (BeiDou Satellite-based Augmentation System).

[0057] Step S106, judging whether the preset satellite navigation system is available based on the position prediction information;

[0058] Specifically, step S106 is as follows: Figure 2 As shown, the timing receiving device receives the position monitoring information of the satellite in the preset satellite navigation system, and based on the position monitoring information, determines whether the preset satellite navigation system is available, for example, based on the system availability parameters contained in the position monitoring information (check whether the number of visible satellites is sufficient - usually at least 4 satellites are required for three-dimensional positioning, evaluate whether the accuracy of the positioning solution meets the application requirements - if the accuracy is insufficient, it is necessary to wait for more satellites to enter the field of view or reinitialize, etc.).

[0059] Step S108, if the preset satellite navigation system is available, the internal clock of the timing receiving device is corrected in real time based on the position monitoring information;

[0060] Specifically, step S108 performs real-time correction on the internal clock of the timing receiving device based on the position monitoring information and clock error propagation (the satellites in the preset satellite navigation system are equipped with high-precision atomic clocks, such as hydrogen atomic clocks, rubidium clocks, etc. These atomic clocks have extremely high stability and accuracy and can meet the needs of time synchronization).

[0061] Step S110: If the preset satellite navigation system is unavailable, the internal clock of the timing receiving device runs on time.

[0062] Through the above steps in the embodiments of the present application, the position monitoring information and position prediction information of the satellite are obtained through the SBAS differential positioning algorithm. Similarly, the availability of the satellite is determined based on the position monitoring information to improve the reliability of subsequent satellite timing, and then the timing is corrected based on the position prediction information to improve the accuracy, thereby solving the problem of how to improve the accuracy and reliability of satellite timing.

[0063] In some of the embodiments, for step S102 in the above application embodiment, receiving satellite positioning data sent by a preset satellite navigation system includes:

[0064] Step S1, receiving satellite positioning data sent by a preset satellite navigation system through a timing receiving device, and sending the satellite positioning data to the power space-time service platform;

[0065] Step S2, preprocessing the satellite positioning data through the power space-time service platform to obtain preprocessed satellite positioning data.

[0066] Step S2 specifically includes the following steps:

[0067] Step S21, performing broadcast signal quality monitoring and processing on the satellite positioning data through the power space-time service platform to ensure that the pseudo-range transmitted by the satellite is not distorted and the signal power is at a normal level;

[0068] Step S21 specifically:

[0069] Step S211, performing a carrier-to-noise ratio detection of a broadcast signal on the satellite positioning data through the power space-time service platform, and retaining the satellite positioning data whose carrier-to-noise ratio value is greater than a preset threshold value;

[0070] Preferably, based on the satellite positioning data, the power space-time service platform calculates the average value of the carrier-to-noise ratio of the satellite n received by the timing receiving device m at the current moment and the previous moment:

[0071]

[0072] The satellite positioning data whose average carrier-to-noise ratio is greater than the preset threshold is retained, where C / N 0,m,n (k) is the carrier-to-noise ratio of satellite n received by timing receiver m at the current moment, C / N 0,m,n (k-1) is the carrier-to-noise ratio of satellite n received by timing receiving device m at the previous moment.

[0073] Step S212, performing pseudorange-carrier deviation detection on the satellite positioning data through the power space-time service platform, and retaining the satellite positioning data whose pseudorange-carrier deviation is less than a preset deviation threshold.

[0074] It should be noted that the signal quality monitoring and processing is mainly aimed at the satellite broadcast signal to ensure that the pseudorange transmitted by the satellite is not distorted and the signal power is at a normal level, including carrier-to-noise ratio detection and pseudorange-carrier deviation detection.

[0075] For step S211, it is necessary to detect the carrier-to-noise ratio (C / N0) of all observed satellites at each frequency point measured by the timing receiving device, and obtain the availability mark value (i.e., the average carrier-to-noise ratio C / N0). 0_avg,m,n (k)), the average carrier-to-noise ratio C / N 0_avg,m,n (k) Compare with the preset threshold value. If it is greater than the preset threshold value, the detection is passed. If it is less than the preset threshold value, it is difficult for the receiver to separate the signal from the noise, and the detection fails. Since the carrier-to-noise ratio of the satellite received by the monitoring receiver changes with the change of the satellite elevation angle, the lower the satellite elevation angle, the smaller the carrier-to-noise ratio, and the higher the satellite elevation angle, the larger the carrier-to-noise ratio. Therefore, the preset threshold value can be set according to the satellite elevation angle of 10° as a step.

[0076] For step S212, pseudo-range-carrier deviation detection is used to detect ionospheric storms and ensure that the deviation of any given satellite code and carrier is small enough. The GMA (Geometric Moving Averaging) method is usually used to estimate the pseudo-range-carrier deviation Dvgc(k). Specifically, Dvgc received by the timing receiving device m for satellite n is m，n (k):

[0077]

[0078] Where: τ s is the time constant (usually taken as 100s), T s is the data update rate, z is the original pseudorange minus carrier value, and dz is the difference between the current moment and the previous moment.

[0079] For the satellite n received by the timing receiver m, calculate z m，n (k):

[0080] z m，n (k) = ρ m，n (k)-φ m，n (k)

[0081] =2I m，n (k)+M m，n (k)-N m，n (k)λ

[0082] Where ρ is the pseudorange, φ is the carrier phase, I is the ionospheric delay, M is the multipath error, N is the integer ambiguity, and λ is the wavelength.

[0083] The difference dz between the current moment and the previous moment z m，n (k):

[0084] dz m，n (k) = z m，n (k)-z m，n (k-1)

[0085] =2(I m，n (k)-I m，n (k-1))+(M m，n (k)-M m，n (k-1))-(N m，n (k)-N m，n (k-1))λ=2(I m，n (k)-I m，n (k-1))+(M m，n (k)-M m，n (k-1))

[0086] If there is no carrier cycle slip, the integer ambiguity N in the above formula is m，n will be eliminated. If there is a carrier cycle slip, the GMA filter needs to be reset.

[0087] Step S22, performing data quality monitoring and processing on the satellite positioning data through the power space-time service platform to ensure that the received satellite positioning data is sufficiently reliable;

[0088] Step S23, performing measurement value quality monitoring processing on the satellite positioning data through the power space-time service platform to ensure the consistency of pseudo-range measurement and carrier phase measurement of the received satellite positioning data;

[0089] Step S24, based on the broadcast signal quality monitoring process, the data quality monitoring process and the measurement value quality monitoring process, the pre-processed satellite positioning data is obtained.

[0090] In some of the embodiments, for step S22 in the above application embodiment, the data quality monitoring process of the satellite positioning data by the power space-time service platform specifically includes:

[0091] The satellite positioning data is verified by the satellite ephemeris through the electric power space-time service platform, and the satellite positioning data sent by the satellites that have passed the satellite ephemeris verification are retained.

[0092] Preferably, based on the satellite positioning data, the absolute value of the difference between the new ephemeris satellite position and the old ephemeris satellite position of the satellite is calculated by the power space-time service platform:

[0093] Δp s =|p1 s (k)-p2 s (k)|

[0094] The satellite positioning data whose absolute value is less than the preset verification threshold is retained, where: is the new ephemeris satellite position of satellite s at the kth moment, rx1, ry1 and rz1 are the three-dimensional position coordinates of the satellite calculated using the new ephemeris data of satellite s, is the old ephemeris satellite position of satellite s at the kth moment, rx2, ry2 and rz2 are the three-dimensional position coordinates of the satellite calculated using the old ephemeris data of satellite s.

[0095] It should be noted that the data quality monitoring process checks the satellite ephemeris data when a new satellite appears in the field of view and a new navigation message is received to ensure that the received satellite positioning data is sufficiently reliable. The method used for data quality monitoring is called satellite ephemeris verification. For example, the ephemeris data of each satellite is verified. The ephemeris data broadcast by the satellite is continuously tracked, and the satellite positions at the same time are calculated using the two sets of ephemeris data. If the absolute value of the difference between the satellite position calculated by the latter set of ephemeris (new ephemeris data) and the satellite position calculated by the previous set of ephemeris (old ephemeris data) exceeds a certain range, the latter set of ephemeris is considered abnormal.

[0096] In some of the embodiments, for step S23 in the above-mentioned application embodiment, the measurement value quality monitoring process mainly determines the consistency of the pseudorange and carrier phase observations in the last few epochs to detect sudden steps and other fast-changing errors. The measurement value quality monitoring includes: carrier phase cycle jump detection and carrier smoothing code change detection. In other words, the measurement value quality monitoring process of satellite positioning data through the power space-time service platform specifically includes:

[0097] Step S231, performing carrier phase cycle slip detection on satellite positioning data through the power space-time service platform, and retaining satellite positioning data with normal carrier phase measurement values;

[0098] Preferably, the carrier phase cycle slip detection uses the least square method to perform carrier phase cycle slip detection on normally locked satellites, and is used to detect rapid changes in acceleration, slope, and step on the carrier phase measurement value, which may cause errors in the carrier phase correction amount. Specifically, as follows:

[0099] For each channel (m, n), that is, each satellite of each receiver, calculate the carrier phase correction value φ c，m，n :

[0100] φ c，m，n (k) = φ m，n (k)×λ-R m，n (k)+τ m，n (k)-φ c，m，n (0)

[0101] Where k is the time point, φ m，n is the carrier phase value, T Inno is the wavelength, R m，n is the geometric distance from the timing receiving device antenna m to the satellite n, which is calculated based on the receiver position and the satellite position. m，n is the satellite clock correction, which is calculated based on the clock error parameters in the satellite ephemeris data. c，m，n (0) = φ m,n (0)×λ-R m，n (0)+τm，n (0) is the carrier phase correction amount at the initial time point, φ m，n (0) is the carrier phase value at the initial time point, R m，n (0) is the geometric distance from the timing receiver antenna m to the satellite n at the initial time point, τ m，n (0) is the satellite clock correction at the initial time point.

[0102] Calculate φ from ten consecutive known points from k-9, k-8, ..., k * value:

[0103]

[0104] Among them, S m (k) is the set of satellites tracked by receiver m, N m is the number of satellites tracked by receiver m, j refers to the set S m Satellite in (k), φ c，m，j is the carrier phase correction of satellite j. This subtraction can eliminate any possible receiver clock drift. In the process of calculating these ten points, S m are exactly the same.

[0105] The following quadratic model is fitted using the ten known points calculated:

[0106]

[0107] in, is φ at the initial time point * value, and is the model coefficient to be solved, t is the time, 0≤t≤10×T s , T s is the sampling interval of the original observations.

[0108] The coefficients of the model are solved using the least squares method to obtain the carrier phase acceleration value Acc, ramp value Rammp and step value Step:

[0109]

[0110]

[0111]

[0112] in, is the actual value obtained from the above calculation, is the predicted value obtained from the above fitting.

[0113] The absolute values ​​of the acceleration value, ramp value, and step value are compared with the set acceleration threshold TAcc , Slope threshold T Ramp and step threshold T Step Compare and get the corresponding judgment result value Res Acc 、Res Ramp and Res Step , determine whether an abnormal sign is generated on the acceleration, slope or step. If no abnormal sign is generated, it means that all channels have passed the test. If an abnormal sign is generated, the following judgment logic is used:

[0114] 1. Find the maximum value of acceleration, slope and step value for the marked channel;

[0115] 2. Determine the number of maximum values. If there is only one maximum value or two maximum values ​​occurring on the same channel, exclude the channel.

[0116] 3. After eliminating the faulty channel, repeat the carrier phase acceleration, slope, and step calculations, and make subsequent corresponding judgments. The number of repeated calculations is usually no more than 2 times.

[0117] Step S232, performing carrier smoothing code variation detection on the satellite positioning data through the electric power space-time service platform, and retaining the satellite positioning data with normal smoothing code pseudorange.

[0118] Preferably, the carrier smoothed code variation detection uses the characteristic that the carrier phase variation between two adjacent epochs is related to the pseudorange variation to detect the impact and step errors in the original code pseudorange observation. The code pseudorange observation is smoothed using the variation value of the carrier phase observation, which can reduce the fast-changing error of the original code pseudorange observation. Specifically as follows:

[0119] Perform HATCH filtering on each satellite of each receiver and calculate the smoothed code pseudorange value P s，m,n :

[0120]

[0121] Where k is the time point, N s =τ s / T s , τ s is the time constant, the value is 100s, T s is the sampling interval of the original observations, P m，n is the pseudorange observation, φ m，n is the carrier phase observable and λ is the wavelength.

[0122] Calculate the statistic value Inno based on the smoothed code pseudorange value m，n :

[0123] Inno m，n(k) = P m，n (k)-(P s，m，n (k-1)+φ m，n (k)×λ-φ m,n (k-1)×λ)

[0124] The statistic Inno m，n The absolute value of the preset statistical threshold T Inno For comparison, if Inno m，n The absolute value of T Inno , then the code pseudorange is considered normal. If Inno m，n The absolute value of T Inno , and the absolute values ​​of three consecutive Inmo are greater than the threshold, an abnormal flag is generated, and the code pseudorange is considered abnormal. Inno It is set according to different satellite types (GEO, IGSO, MEO) and different elevation angles, and weighted processing is performed. These threshold processing can improve the accuracy of detection, thereby improving the accuracy of carrier smoothing code change detection.

[0125] It should be further explained that, in the above steps S21 to S23, the detection results of the carrier-to-noise ratio detection, pseudorange-carrier deviation detection, satellite ephemeris verification, carrier phase cycle jump detection and carrier smooth code change detection are comprehensively processed and logically judged to perform comprehensive detection of various abnormal situations to the greatest extent, effectively reducing the probability of missed detection and false detection of abnormal observation data.

[0126] In some of the embodiments, a timing method based on a satellite-based augmentation service provided in an embodiment of the present application further includes:

[0127] ①User interference detection and reporting

[0128] The user terminal has the function of interference detection and detection result output, and can extract interference, ionosphere, navigation signals, multipath detection information, etc., and transmit the electromagnetic environment monitoring information near the user terminal to the industry timing service platform through the ground network, and then transmit it to the Beidou high-precision and high-security timing comprehensive service platform to complete interference detection, ionosphere detection, navigation signal anomalies, and multipath detection information analysis and processing.

[0129] ②Interference analysis and evaluation release

[0130] Interference analysis and evaluation release includes single-station analysis and evaluation, multi-station comprehensive analysis and evaluation, and interference environment warning release. Single-station comprehensive analysis and evaluation completes interference detection, ionosphere detection, navigation signal anomaly, and multipath detection information analysis and processing for the interference, ionosphere, navigation signal, and multipath detection information transmitted back by each user terminal. Multi-station comprehensive analysis and evaluation uses multi-station joint auxiliary technology to achieve multi-station space segment interference source investigation and positioning, ionosphere scintillation statistical analysis, and navigation signal anomaly monitoring based on the monitoring and measurement data and analysis and evaluation results of each single station. Interference environment warning release generates an interference detection comprehensive analysis report based on the analysis and evaluation results of the multi-station comprehensive evaluation platform and the analysis and reporting of the user segment interference detection reporting network, and releases multi-station ionosphere scintillation warning, multipath alarm and other information.

[0131] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0132] The embodiment of the present application provides a timing system based on satellite-based augmented services, the system comprising an electric power space-time service platform and a timing receiving device;

[0133] The power space-time service platform is used to receive satellite positioning data sent by the preset satellite navigation system;

[0134] The power space-time service platform is used to obtain the position monitoring information and position prediction information of the satellites in the preset satellite navigation system based on the satellite positioning data through the differential positioning algorithm of the satellite-based augmentation service (SBAS);

[0135] The timing receiving device corrects the internal clock in real time based on the position monitoring information and position prediction information.

[0136] Through the electric power space-time service platform and timing receiving device in the embodiments of the present application, it is possible to obtain the satellite's position monitoring information and position prediction information through the SBAS differential positioning algorithm. Similarly, it is possible to determine whether the satellite is available based on the position monitoring information to improve the reliability of subsequent satellite timing, and then perform timing corrections based on the position prediction information to improve accuracy, thereby solving the problem of how to improve the accuracy and reliability of satellite timing.

[0137] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0138] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0139] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0140] In addition, in combination with the timing method based on satellite-based augmentation service in the above embodiment, the embodiment of the present application can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the timing methods based on satellite-based augmentation service in the above embodiment is implemented.

[0141] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a timing method based on satellite-based augmentation service is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball, or touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0142] In one embodiment, Figure 3 is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application, such as Figure 3 As shown, an electronic device is provided, which may be a server, and its internal structure diagram may be as shown in Figure 3 As shown. The electronic device includes a processor, a network interface, an internal memory and a non-volatile memory connected through an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used to provide computing and control capabilities, the network interface is used to communicate with an external terminal through a network connection, the internal memory is used to provide an environment for the operation of the operating system and the computer program, the computer program is executed by the processor to implement a timing method based on a satellite-based augmentation service, and the database is used to store data.

[0143] Those skilled in the art will understand that Figure 3The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0144] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0145] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0146] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A timing method based on satellite-based augmentation service, characterized in that: The method comprises: Receive satellite positioning data sent by a preset satellite navigation system; Based on the satellite positioning data, the position monitoring information and position prediction information of the satellites in the preset satellite navigation system are obtained by using the differential positioning algorithm of the satellite-based augmentation service (SBAS); Based on the position prediction information, determining whether the preset satellite navigation system is available; If the preset satellite navigation system is available, the internal clock of the timing receiving device is corrected in real time based on the position monitoring information; If the preset satellite navigation system is unavailable, the internal clock of the timing receiving device will run on time.

2. The method according to claim 1, characterized in that Receiving satellite positioning data sent by a preset satellite navigation system includes: Receive satellite positioning data sent by a preset satellite navigation system through a timing receiving device, and send the satellite positioning data to the power space-time service platform; The satellite positioning data is preprocessed through the electric power space-time service platform to obtain preprocessed satellite positioning data.

3. The method according to claim 2, characterized in that The satellite positioning data is preprocessed by the power space-time service platform to obtain the preprocessed satellite positioning data including: The satellite positioning data is broadcasted and processed by the power space-time service platform to ensure that the pseudo-range transmitted by the satellite is not distorted and the signal power is at a normal level; Performing data quality monitoring and processing on the satellite positioning data through the power space-time service platform to ensure that the received satellite positioning data is sufficiently reliable; The satellite positioning data is subjected to measurement value quality monitoring processing by the electric power space-time service platform to ensure the consistency of pseudo-range measurement and carrier phase measurement of the received satellite positioning data; Based on the broadcast signal quality monitoring process, the data quality monitoring process and the measurement value quality monitoring process, pre-processed satellite positioning data is obtained.

4. The method according to claim 3, characterized in that The broadcast signal quality monitoring and processing of the satellite positioning data by the power space-time service platform includes: Performing a carrier-to-noise ratio detection of the broadcast signal of the satellite positioning data through the electric power space-time service platform, and retaining the satellite positioning data whose carrier-to-noise ratio value is greater than a preset threshold value; The satellite positioning data is subjected to pseudorange-carrier deviation detection through the electric power space-time service platform, and the satellite positioning data whose pseudorange-carrier deviation is less than a preset deviation threshold is retained.

5. The method according to claim 4, characterized in that Performing a carrier-to-noise ratio detection of a broadcast signal on the satellite positioning data through the electric power space-time service platform, and retaining satellite positioning data with a carrier-to-noise ratio greater than a preset threshold value includes: Based on the satellite positioning data, the power space-time service platform calculates the average value of the carrier-to-noise ratio of satellite n received by the timing receiving device m at the current moment and the previous moment: The satellite positioning data whose average carrier-to-noise ratio is greater than the preset threshold is retained, where C / N 0，m，n (k) is the carrier-to-noise ratio of satellite n received by timing receiver m at the current moment, C / N 0，m，n (k-1) is the carrier-to-noise ratio of satellite n received by timing receiving device m at the previous moment.

6. The method according to claim 3, characterized in that The data quality monitoring and processing of the satellite positioning data by the power space-time service platform includes: The satellite positioning data is verified by satellite ephemeris through the electric power space-time service platform, and the satellite positioning data sent by the satellite that has passed the satellite ephemeris verification is retained.

7. The method according to claim 6, characterized in that Performing satellite ephemeris verification on the satellite positioning data through the electric power space-time service platform, and retaining the satellite positioning data sent by the satellite that has passed the satellite ephemeris verification includes: Based on the satellite positioning data, the absolute value of the difference between the new ephemeris satellite position and the old ephemeris satellite position of the satellite is calculated by the electric power space-time service platform: Δp s =|p1 s (k)-p2 s (k)| The satellite positioning data whose absolute value is less than the preset verification threshold is retained, where: is the new ephemeris satellite position of satellite s at the kth moment, rx1, ry1 and rz1 are the three-dimensional position coordinates of the satellite calculated using the new ephemeris data of satellite s, is the old ephemeris satellite position of satellite s at the kth moment, rx2, ry2 and rz2 are the three-dimensional position coordinates of the satellite calculated using the old ephemeris data of satellite s.

8. The method according to claim 3, characterized in that The measurement value quality monitoring process of the satellite positioning data by the power spatiotemporal service platform includes: Perform carrier phase cycle slip detection on the satellite positioning data through the power space-time service platform, and retain satellite positioning data with normal carrier phase measurement values; The electric power space-time service platform performs carrier smoothing code variation detection on the satellite positioning data, and retains the satellite positioning data with normal smoothing code pseudorange.

9. The method according to claim 1, characterized in that: The preset satellite navigation system is the Beidou satellite navigation system.

10. A timing system based on satellite-based augmentation service, characterized in that: The system is used to execute the method described in any one of claims 1 to 9 above, and the system includes an electric power space-time service platform and a timing receiving device; The electric power space-time service platform is used to receive satellite positioning data sent by a preset satellite navigation system; The electric power space-time service platform is used to obtain the position monitoring information and position prediction information of the satellite in the preset satellite navigation system through the differential positioning algorithm of the satellite-based augmentation service (SBAS) according to the satellite positioning data; The timing receiving device corrects the internal clock in real time according to the position monitoring information and the position prediction information.

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