Satellite navigation receiver observation data and fault simulation injection method, device, equipment and medium

Abstract

The invention discloses a satellite navigation receiver observation data and fault simulation injection method and device, equipment and a medium, and relates to the technical field of satellite navigation, and the method comprises the steps: calculating a first satellite position of each satellite based on a satellite orbit parameter and an initial simulation pseudo range; calculating a first satellite-ground distance of each satellite based on the simulated observation point position; calculating a second satellite position of each satellite based on the first satellite-ground distance and the satellite orbit parameters; calculating a pitch angle of each satellite through the second satellite position, calculating a visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculating a second satellite-ground distance; and adding an error to the second satellite-ground distance to generate a satellite pseudo-range and a satellite signal to noise ratio, then determining Doppler frequency offset, and outputting the data to obtain observation data of the simulated observation point, so as to simulate satellite navigation by using the observation data. That is, through simulation generation of satellite navigation receiver observation data, simulation research required by satellite navigation integrity test is realized.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a satellite navigation receiver observation data and fault simulation injection method, device, equipment and medium. Background Art

[0002] ICAO (International Civil Aviation Organization) clearly defines the performance requirements that GNSS should meet in the GNSS (Global Navigation Satellite System) standards and recommended practices, including accuracy, integrity, continuity and availability. The availability of a navigation system refers to the ability of the system to provide the required functions and performance during expected operation, reflecting the ability of the system to provide available services within a specified effective area. The BeiDou navigation system will be gradually incorporated into the civil aviation GNSS standard framework and become one of the core constellations. Its global service capabilities, especially global availability, need to be carefully evaluated in detail.

[0003] Based on this, CTSO (i.e., civil aviation technical standards) proposed integrity monitoring tests, but this test requires a large number of satellite observation data at time and space points as the test basis, and it is too difficult to achieve real measurement. Therefore, how to simulate satellite navigation receiver observation data, fault data, and fault injection to realize simulation research on satellite navigation is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a satellite navigation receiver observation data and fault simulation injection method, device, equipment and medium, which can simulate and generate satellite navigation receiver observation data and realize simulation research on satellite navigation. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a satellite navigation receiver observation data and fault simulation injection method, comprising:

[0006] Obtain satellite orbit parameters and initial simulation pseudoranges, and calculate the first satellite position of each satellite at each moment from the start time of the simulation observation to the end time of the simulation observation based on the satellite orbit parameters and the initial simulation pseudoranges;

[0007] Acquire the position of the simulated observation point, and calculate the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point;

[0008] Calculate the second satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the first satellite-to-ground distance and the satellite orbit parameter; the error of the second satellite position is less than the first satellite position;

[0009] Calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite;

[0010] Errors and faults are added to the second satellite-to-ground distance to generate a satellite pseudorange, and a satellite signal signal-to-noise ratio is generated based on the satellite pseudorange. Then, a Doppler frequency deviation caused by satellite movement is determined, and the visible satellites, the satellite pseudoranges, the satellite signal signal-to-noise ratio and the Doppler frequency deviation are output to obtain observation data of the simulated observation point, so as to perform satellite navigation simulation using the observation data of the simulated observation point.

[0011] Optionally, the obtaining of satellite orbit parameters and initial simulated pseudoranges includes:

[0012] Satellite orbit parameters are determined based on satellite navigation constellation orbit data, and initial simulated pseudoranges are determined according to the satellite orbit parameters and satellite orbit identifiers.

[0013] Optionally, the calculating, based on the satellite orbit parameters and the initial simulated pseudorange, the first satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount includes:

[0014] Get the start time and end time of the simulated observation;

[0015] Based on the satellite orbit parameters, the initial simulation pseudorange, the simulation observation start time and the simulation observation end time, the first satellite position of each satellite at each moment from the simulation observation start time to the simulation observation end time is calculated.

[0016] Optionally, calculating the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculating the visible satellite of the simulated observation point at each moment according to the pitch angle includes:

[0017] Obtaining the differences between the second satellite position and the simulated observation point position on the E axis, the N axis, and the U axis respectively through the ENU coordinate system, and taking the square root of the sum of the squares of the differences on the E axis, the N axis, and the U axis to obtain the first data;

[0018] Calculate the ratio of the difference between the second satellite position and the simulated observation point position on the U axis to the first data to obtain second data, and perform arcsine function calculation on the second data to obtain the pitch angle of each satellite relative to the simulated observation point;

[0019] The visible satellites of the simulated observation point at each moment are calculated according to the pitch angle and the pitch angle threshold value specified in the CTSO standard.

[0020] Optionally, the calculating a second satellite-to-ground distance between the simulated observation point and the visible satellite includes:

[0021] Based on the position of the simulated observation point, a second satellite-to-ground distance between the simulated observation point and each of the visible satellites is calculated at each moment from the start time of the simulated observation quantity to the end time of the simulated observation quantity.

[0022] Optionally, adding errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange includes:

[0023] Add the signal's own error, signal propagation path error and receiver's own error to the second satellite-to-ground distance;

[0024] A fault is added for each of the satellites, and a satellite pseudorange is generated based on the signal's own error, the signal propagation path error, the receiver's own error, and the fault.

[0025] Optionally, determining the Doppler frequency deviation caused by satellite movement includes:

[0026] Obtaining the component of the moving speed of each satellite on the vector connecting the satellite and the simulated observation point;

[0027] The ratio of the component to the speed of light is calculated, and the Doppler frequency shift is determined based on the product of the ratio and the signal frequency of each of the satellites.

[0028] In a second aspect, the present application provides a satellite navigation receiver observation data and fault simulation injection device, comprising:

[0029] A first satellite position acquisition module is used to obtain satellite orbit parameters and initial simulation pseudoranges, and calculate the first satellite position of each satellite at each moment from the start time of the simulation observation amount to the end time of the simulation observation amount based on the satellite orbit parameters and the initial simulation pseudoranges;

[0030] A first satellite-to-ground distance calculation module is used to obtain the position of the simulated observation point, and calculate the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point;

[0031] A second satellite position calculation module is used to calculate the second satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the first satellite-to-ground distance and the satellite orbit parameter; the error of the second satellite position is smaller than the first satellite position;

[0032] A second satellite-to-ground distance calculation module is used to calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite;

[0033] An observation data acquisition module is used to add errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange, generate a satellite signal-to-noise ratio based on the satellite pseudorange, then determine the Doppler frequency deviation caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio and the Doppler frequency deviation to obtain the observation data of the simulated observation point, so as to perform satellite navigation simulation using the observation data of the simulated observation point.

[0034] In a third aspect, the present application provides an electronic device, including:

[0035] Memory, used to store computer programs;

[0036] The processor is used to execute the computer program to implement the aforementioned satellite navigation receiver observation data and fault simulation injection method.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned satellite navigation receiver observation data and fault simulation injection method is implemented.

[0038] As can be seen from the above, the present application first obtains satellite orbit parameters and initial simulation pseudoranges, and calculates the first satellite position of each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation based on the satellite orbit parameters and the initial simulation pseudoranges; obtains the simulated observation point position, and calculates the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation to the end time of the simulated observation based on the simulated observation point position; calculates the second satellite position of each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation based on the first satellite-to-ground distance and the satellite orbit parameters; the error of the second satellite position is less than the error of the first satellite position Position; calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite; add errors and faults to the second satellite-to-ground distance to generate satellite pseudorange, and generate satellite signal-to-noise ratio based on the satellite pseudorange, and then determine the Doppler frequency deviation caused by satellite movement, and output the visible satellite, the satellite pseudorange, the satellite signal signal-to-noise ratio and the Doppler frequency deviation to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point to simulate satellite navigation. In this way, the present application first determines the observation data of the simulated observation point such as visible satellites, satellite pseudoranges, satellite signal signal-to-noise ratios, Doppler frequency deviations, etc. by calculating the satellite orbit parameters and the initial simulated pseudorange, and uses the observation data to simulate satellite navigation; that is, the present application realizes the simulation research of satellite navigation by simulating and generating satellite navigation receiver observation data. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 A flow chart of a satellite navigation receiver observation data and fault simulation injection method disclosed in the present application;

[0041] Figure 2 A schematic diagram of an error addition disclosed in this application;

[0042] Figure 3 This is a system architecture diagram of a satellite navigation receiver observation data and fault simulation injection method disclosed in this application;

[0043] Figure 4This is a schematic diagram of the structure of a satellite navigation receiver observation data and fault simulation injection device disclosed in this application;

[0044] Figure 5 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] ICAO has clearly defined the performance requirements that GNSS should meet in the GNSS Standards and Recommended Practices, including accuracy, integrity, continuity and availability. The BeiDou navigation system will gradually be incorporated into the civil aviation GNSS standard framework and become one of the core constellations. Its global service capabilities, especially global availability, need to be evaluated in detail and carefully. Based on this, the CTSO proposed an integrity monitoring test, but this test requires a large number of satellite observation data at time and space points as the test basis, and the actual measurement is too difficult to achieve. Therefore, this application will specifically introduce a satellite navigation receiver observation data and fault simulation injection method that can solve the above problems.

[0047] See also Figure 1 As shown, an embodiment of the present invention discloses a satellite navigation receiver observation data and fault simulation injection method, which may include:

[0048] Step S11, obtaining satellite orbit parameters and initial simulation pseudoranges, and calculating the first satellite position of each satellite at each moment from the start time of the simulation observation to the end time of the simulation observation based on the satellite orbit parameters and the initial simulation pseudoranges.

[0049] In this embodiment, the satellite orbit parameters are determined based on the satellite navigation constellation orbit data, and the initial simulated pseudorange is determined based on the satellite orbit parameters and the satellite orbit identifier. Specifically, the satellite navigation constellation orbit data is first imported, and the relevant satellite orbit parameters in the data are parsed, wherein the satellite navigation constellation orbit data may include an almanac or an ephemeris. Then, the initial simulated pseudorange is determined based on the satellite orbit identifier, and based on the "Beidou Satellite Navigation System Space Signal Interface Control File" issued by the China Satellite Navigation System Management Office, the initial simulated pseudorange of the Beidou satellite IGSO (Inclined GeoSynchronous Orbit) type satellite is set to 35786km, and the initial simulated pseudorange of the MEO (Middle Earth Orbit) type satellite is set to 21528km. It should be noted that when calculating the satellite position, the simulated pseudorange is substituted in order to calculate the propagation delay of the satellite signal to the observation point, thereby calculating the offset that eliminates the satellite movement during the propagation of the satellite signal.

[0050] In this embodiment, the start time of the simulated observation and the end time of the simulated observation are obtained; based on the satellite orbit parameters, the initial simulated pseudorange, the start time of the simulated observation and the end time of the simulated observation, the first satellite position of each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated. It can be understood that a complete satellite position time series can be obtained by calculating the first satellite position of each satellite at each moment. The time series can accurately analyze the motion law of the satellite, predict the position change of the satellite, and evaluate the performance of the satellite navigation system.

[0051] Step S12, obtaining the position of the simulated observation point, and calculating the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point.

[0052] In this embodiment, in order to perform accurate satellite navigation and positioning analysis, it is first necessary to obtain the location information of the simulated observation point. The simulated observation points may be distributed in different areas on the surface of the earth. Next, based on the location information of the simulated observation points, the first satellite-to-ground distance between the simulated observation point and each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated. It should be noted that each moment refers to a time interval with extremely high time resolution, such as one second or shorter.

[0053] Step S13, calculating the second satellite position of each satellite at each moment from the start time of the simulated observation quantity to the end time of the simulated observation quantity based on the first satellite-to-ground distance and the satellite orbit parameter; the error of the second satellite position is smaller than the first satellite position.

[0054] In this embodiment, the initial simulation pseudorange is replaced by the first satellite-to-ground distance, and the second satellite position of each satellite is calculated at each moment from the start time of the simulated observation to the end time of the simulated observation. It can be understood that since the initial simulation pseudorange is only an approximate pseudorange, the error of the first satellite position obtained for the first time according to the initial simulation pseudorange is relatively large. At this time, in order to reduce the error, a new simulation pseudorange is obtained according to the first satellite-to-ground distance and the observation point position. The new simulation pseudorange is closer to the actual situation than the initial simulation pseudorange, and the second satellite position is obtained again. In actual use, multiple iterations can be performed to obtain new satellite positions, but it is found through experiments that the error of the second satellite position is already extremely small, and the deviation from the position obtained by subsequent iterations is below the meter level. In order to save computing resources, this embodiment takes the result of the second iteration, that is, the second satellite position.

[0055] Step S14, calculating the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculating the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculating the second satellite-to-ground distance between the simulated observation point and the visible satellite.

[0056] In this embodiment, the difference between the second satellite position and the simulated observation point position on the E axis, N axis, and U axis is obtained through the ENU coordinate system, and the square root of the sum of the squares of the differences on the E axis, N axis, and U axis is taken to obtain the first data; the ratio of the difference between the second satellite position and the simulated observation point position on the U axis to the first data is calculated to obtain the second data, and the inverse sine function is calculated on the second data to obtain the pitch angle of each satellite relative to the simulated observation point; the visible satellite of the simulated observation point at each moment is calculated according to the pitch angle and the pitch angle threshold value specified in the CTSO standard; the second satellite-to-ground distance between the simulated observation point and each visible satellite at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated based on the simulated observation point position. It can be understood that the user's satellite sky view can be easily obtained based on the ENU coordinate system, and the satellite pitch angle is calculated using the ENU LOS (line-of-sight) vector: the angle of the observation vector above the horizontal plane composed of the E axis and the N axis, also known as the satellite elevation angle, and the formula is as follows:

[0057] ;

[0058] Where E represents the elevation angle of the satellite relative to the simulated observation point, , , They are the differences between the satellite position and the simulated observation point position in the ENU coordinate system on the E axis, N axis, and U axis respectively.

[0059] Step S15, adding errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange, and generating a satellite signal-to-noise ratio based on the satellite pseudorange, then determining the Doppler frequency deviation caused by satellite movement, and outputting the visible satellites, the satellite pseudoranges, the satellite signal-to-noise ratio and the Doppler frequency deviation to obtain observation data of the simulated observation point, so as to perform satellite navigation simulation using the observation data of the simulated observation point.

[0060] In this embodiment, the signal error, signal propagation path error, and receiver error are added to the second satellite-to-ground distance; a fault is added to each satellite, and a satellite pseudorange is generated based on the signal error, signal propagation path error, receiver error, and fault. It should be noted that the schematic diagram of adding errors to the second satellite-to-ground distance is as follows: Figure 2 As shown. The user-measured pseudorange contains a variety of errors, which is the most important factor affecting positioning performance. According to the source of the error, it can be divided into three parts: the GNSS signal's own error, mainly including orbit error, i.e., ephemeris error, and satellite clock error; the GNSS signal propagation path error, mainly including ionospheric delay and tropospheric delay; the GNSS receiver's own error, mainly including receiver noise and multipath effect. It should be noted that the user equivalent pseudorange error variance of the satellite i pseudorange measurement is:

[0061] ;

[0062] in, represents the error of satellite ephemeris and satellite clock error model, Indicates the ionospheric delay error, represents multipath and onboard receiver noise, Indicates the tropospheric delay error. In addition, you can choose to add faults to the satellite, select the target satellite to add the fault, the start and end time, and the fault type (step fault or ramp fault); if it is a pseudorange step error of k meters, then n meters are added to the pseudorange of the faulty satellite within the fault period; if it is a ramp fault of n meters / second, then k*x meters are added to the pseudorange of the faulty satellite every x seconds from the start time of the fault until the fault pseudorange returns to normal at the end time of the fault.

[0063] In this embodiment, the component of the moving speed of each satellite on the vector connecting the satellite and the simulated observation point is obtained; the ratio of the component to the speed of light is calculated, and the Doppler frequency deviation is determined based on the product of the ratio and the signal frequency of each satellite. It can be understood that the calculation formula of the Doppler frequency deviation is as follows:

[0064] ;

[0065] Where D is the Doppler frequency deviation of the signal caused by satellite movement, ν is the satellite signal frequency, if it is a B1C band signal, take , is the speed of light, take , V is the component of the satellite moving speed on the vector connecting the satellite and the simulated observation point.

[0066] In this embodiment, in order to generate satellite observation data of a configuration that meets the availability test requirements of the integrity compliance verification test in the CTSO standard, each observation time and space point can be added with a fault for each satellite separately to form multiple simulated observation data for research. For example, samples are taken every 5 minutes between 00:00:00 and 12:00:00, that is, a total of 144 time points; from 0 degrees latitude to 90 degrees north latitude, a time and space point is sampled every 3 degrees. The points of each latitude circle are evenly distributed in longitude, with a total of 2353 space points, and the total number of time and space points is 2353×144=338832 points. The definitions are as follows:

[0067] ;

[0068] in, Indicates step length, It represents latitude and degress represents degree.

[0069] As can be seen from the above, in this embodiment, the satellite orbit parameters and the initial simulation pseudorange are first obtained, and the first satellite position of each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated based on the satellite orbit parameters and the initial simulation pseudorange; the simulated observation point position is obtained, and the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated based on the simulated observation point position; the second satellite position of each satellite at each moment from the start time of the simulated observation to the end time of the simulated observation is calculated based on the first satellite-to-ground distance and the satellite orbit parameters; the error of the second satellite position is less than the error of the first satellite position Position; calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite; add errors and faults to the second satellite-to-ground distance to generate satellite pseudorange, and generate satellite signal-to-noise ratio based on the satellite pseudorange, and then determine the Doppler frequency deviation caused by satellite movement, and output the visible satellite, the satellite pseudorange, the satellite signal signal-to-noise ratio and the Doppler frequency deviation to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point to simulate satellite navigation. In this way, the present application first determines the observation data of the simulated observation point such as visible satellites, satellite pseudoranges, satellite signal signal-to-noise ratios, Doppler frequency deviations, etc. by calculating the satellite orbit parameters and the initial simulated pseudorange, and uses the observation data to simulate satellite navigation; that is, the present application realizes the simulation research of satellite navigation by simulating and generating satellite navigation receiver observation data.

[0070] In summary, if Figure 3 As shown, the present application first obtains the satellite ephemeris or almanac, and sets the initial simulated pseudorange according to the satellite type and orbit type identifier , and then use , Simulation observation start time , simulation observation end time calculate and The position of each satellite at each moment ; then based on The distance between the satellite and the receiver calculate and The satellite positions at each moment , and then find the visible satellites according to the elevation angle of each satellite relative to the receiver, and then find the visible satellite positions at each moment The satellite-to-ground distance from the receiver location , the final distance between the satellite and the ground Add the error and make corrections based on the error to get the pseudo-range between the visible satellite and the receiver at each moment , and output the above related data.

[0071] Accordingly, see Figure 4 As shown, the embodiment of the present application also provides a satellite navigation receiver observation data and fault simulation injection device, which may include:

[0072] A first satellite position acquisition module 11 is used to obtain satellite orbit parameters and initial simulation pseudoranges, and calculate the first satellite position of each satellite at each moment from the start time of the simulation observation to the end time of the simulation observation based on the satellite orbit parameters and the initial simulation pseudoranges;

[0073] A first satellite-to-ground distance calculation module 12 is used to obtain the position of the simulated observation point, and calculate the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point;

[0074] A second satellite position calculation module 13 is used to calculate the second satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the first satellite-to-ground distance and the satellite orbit parameter; the error of the second satellite position is smaller than the first satellite position;

[0075] A second satellite-to-ground distance calculation module 14 is used to calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite;

[0076] The observation data acquisition module 15 is used to add errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange, and generate a satellite signal-to-noise ratio based on the satellite pseudorange, and then determine the Doppler frequency deviation caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio and the Doppler frequency deviation to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point to perform satellite navigation simulation.

[0077] As can be seen from the above, the present application first determines the observation data of simulated observation points such as visible satellites, satellite pseudoranges, satellite signal-to-noise ratios, and Doppler frequency deviations by calculating the satellite orbit parameters and the initial simulated pseudoranges, and performs satellite navigation simulation using the observation data; that is, the present application realizes the simulation research on satellite navigation by simulating and generating satellite navigation receiver observation data.

[0078] In some specific implementations, the first satellite position obtaining module 11 includes:

[0079] The simulated pseudorange determination unit is used to determine satellite orbit parameters based on satellite navigation constellation orbit data, and determine initial simulated pseudorange according to the satellite orbit parameters and satellite orbit identifier.

[0080] In some specific implementations, the first satellite position obtaining module 11 includes:

[0081] An observation time acquisition unit, used to acquire the start time and end time of the simulated observation;

[0082] The first satellite position determination unit is used to calculate the first satellite position of each satellite at each moment from the start time of the simulated observation quantity to the end time of the simulated observation quantity based on the satellite orbit parameters, the initial simulated pseudorange, the start time of the simulated observation quantity and the end time of the simulated observation quantity.

[0083] In some specific implementations, the second satellite-to-ground distance calculation module 14 includes:

[0084] a first data obtaining unit, configured to respectively obtain the difference between the second satellite position and the simulated observation point position on the E axis, the N axis, and the U axis through the ENU coordinate system, and perform square root extraction on the sum of the squares of the difference on the E axis, the N axis, and the U axis to obtain first data;

[0085] a pitch angle obtaining unit, configured to calculate a ratio of a difference between the second satellite position and the simulated observation point position on the U axis to the first data to obtain second data, and perform an arcsine function calculation on the second data to obtain a pitch angle of each satellite relative to the simulated observation point;

[0086] The visible satellite obtaining unit is used to calculate the visible satellites of the simulated observation point at each moment according to the pitch angle and the pitch angle threshold value specified by the CTSO standard.

[0087] In some specific implementations, the second satellite-to-ground distance calculation module 14 includes:

[0088] The second satellite-to-ground distance calculation unit is used to calculate the second satellite-to-ground distance between the simulated observation point and each of the visible satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point.

[0089] In some specific implementations, the observation data acquisition module 15 includes:

[0090] A first error adding unit is used to add a signal error, a signal propagation path error and a receiver error to the second satellite-to-ground distance;

[0091] The second error adding unit is used to add a fault to each of the satellites, and generate a satellite pseudorange based on the signal's own error, the signal propagation path error, the receiver's own error and the fault.

[0092] In some specific implementations, the observation data acquisition module 15 includes:

[0093] A vector acquisition unit, used to acquire the component of the moving speed of each satellite on the vector connecting the satellite and the simulated observation point;

[0094] The Doppler frequency deviation determining unit is used to calculate the ratio of the component to the speed of light, and determine the Doppler frequency deviation based on the product of the ratio and the signal frequency of each satellite.

[0095] Furthermore, the present application also discloses an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the satellite navigation receiver observation data and fault simulation injection method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0096] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0097] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0098] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the satellite navigation receiver observation data and fault simulation injection method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0099] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the satellite navigation receiver observation data and fault simulation injection method disclosed above are implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the above embodiments, and no further description will be given here.

[0100] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0101] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0103] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0104] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A satellite navigation receiver observation data and fault simulation injection method, characterized in that: include: Obtain satellite orbit parameters and initial simulation pseudoranges, and calculate the first satellite position of each satellite at each moment from the start time of the simulation observation to the end time of the simulation observation based on the satellite orbit parameters and the initial simulation pseudoranges; Acquire the position of the simulated observation point, and calculate the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point; Calculate the second satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the first satellite-to-ground distance and the satellite orbit parameter; The error of the second satellite position is smaller than the error of the first satellite position; Calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite; Errors and faults are added to the second satellite-to-ground distance to generate a satellite pseudorange, and a satellite signal signal-to-noise ratio is generated based on the satellite pseudorange. Then, a Doppler frequency deviation caused by satellite movement is determined, and the visible satellites, the satellite pseudoranges, the satellite signal signal-to-noise ratio and the Doppler frequency deviation are output to obtain observation data of the simulated observation point, so as to perform satellite navigation simulation using the observation data of the simulated observation point.

2. The satellite navigation receiver observation data and fault simulation injection method according to claim 1, characterized in that: The obtaining of satellite orbit parameters and initial simulated pseudoranges comprises: Satellite orbit parameters are determined based on satellite navigation constellation orbit data, and initial simulated pseudoranges are determined according to the satellite orbit parameters and satellite orbit identifiers.

3. The satellite navigation receiver observation data and fault simulation injection method according to claim 1, characterized in that: The calculating, based on the satellite orbit parameters and the initial simulated pseudorange, the first satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount comprises: Get the start time and end time of the simulated observation; Based on the satellite orbit parameters, the initial simulation pseudorange, the simulation observation start time and the simulation observation end time, the first satellite position of each satellite at each moment from the simulation observation start time to the simulation observation end time is calculated.

4. The satellite navigation receiver observation data and fault simulation injection method according to claim 1, characterized in that: The step of calculating the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculating the visible satellite of the simulated observation point at each moment according to the pitch angle comprises: Obtaining the differences between the second satellite position and the simulated observation point position on the E axis, the N axis, and the U axis respectively through the ENU coordinate system, and taking the square root of the sum of the squares of the differences on the E axis, the N axis, and the U axis to obtain the first data; Calculate the ratio of the difference between the second satellite position and the simulated observation point position on the U axis to the first data to obtain second data, and perform arcsine function calculation on the second data to obtain the pitch angle of each satellite relative to the simulated observation point; The visible satellites of the simulated observation point at each moment are calculated according to the pitch angle and the pitch angle threshold value specified in the CTSO standard.

5. The satellite navigation receiver observation data and fault simulation injection method according to claim 1, characterized in that: The calculating the second satellite-to-ground distance between the simulated observation point and the visible satellite comprises: Based on the position of the simulated observation point, a second satellite-to-ground distance between the simulated observation point and each of the visible satellites is calculated at each moment from the start time of the simulated observation quantity to the end time of the simulated observation quantity.

6. The satellite navigation receiver observation data and fault simulation injection method according to any one of claims 1 to 5, characterized in that: The adding errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange comprises: Add the signal's own error, signal propagation path error and receiver's own error to the second satellite-to-ground distance; A fault is added for each of the satellites, and a satellite pseudorange is generated based on the signal's own error, the signal propagation path error, the receiver's own error, and the fault.

7. The satellite navigation receiver observation data and fault simulation injection method according to claim 1, characterized in that: The determining of the Doppler frequency deviation caused by the satellite movement comprises: Obtaining the component of the moving speed of each satellite on the vector connecting the satellite and the simulated observation point; The ratio of the component to the speed of light is calculated, and the Doppler frequency shift is determined based on the product of the ratio and the signal frequency of each of the satellites.

8. A satellite navigation receiver observation data and fault simulation injection device, characterized in that: include: A first satellite position acquisition module is used to obtain satellite orbit parameters and initial simulation pseudoranges, and calculate the first satellite position of each satellite at each moment from the start time of the simulation observation amount to the end time of the simulation observation amount based on the satellite orbit parameters and the initial simulation pseudoranges; A first satellite-to-ground distance calculation module is used to obtain the position of the simulated observation point, and calculate the first satellite-to-ground distance between the simulated observation point and each of the satellites at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the position of the simulated observation point; A second satellite position calculation module is used to calculate the second satellite position of each satellite at each moment from the start time of the simulated observation amount to the end time of the simulated observation amount based on the first satellite-to-ground distance and the satellite orbit parameter; The error of the second satellite position is smaller than the error of the first satellite position; A second satellite-to-ground distance calculation module is used to calculate the pitch angle of each satellite relative to the simulated observation point through the second satellite position and the simulated observation point position, and calculate the visible satellite of the simulated observation point at each moment according to the pitch angle, and then calculate the second satellite-to-ground distance between the simulated observation point and the visible satellite; An observation data acquisition module is used to add errors and faults to the second satellite-to-ground distance to generate a satellite pseudorange, generate a satellite signal-to-noise ratio based on the satellite pseudorange, then determine the Doppler frequency deviation caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio and the Doppler frequency deviation to obtain the observation data of the simulated observation point, so as to perform satellite navigation simulation using the observation data of the simulated observation point.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the satellite navigation receiver observation data and fault simulation injection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, it implements the satellite navigation receiver observation data and fault simulation injection method as described in any one of claims 1 to 7.

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