Satellite Navigation Receiver Observation Data and Fault Simulation Injection Method, Device, Equipment and Medium

Abstract

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

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation, and particularly to a method, device, equipment and medium for simulating satellite navigation receiver observation data and fault injection. Background Art

[0002] ICAO (International Civil Aviation Organization) clearly defines the performance requirements that GNSS (Global Navigation Satellite System) should meet in the GNSS 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 gradually be incorporated into the civil aviation GNSS standard framework and become one of the core constellations. It is necessary to carefully evaluate its global service capabilities, especially global availability.

[0003] Based on this, the CTSO (Civil Aviation Technical Standard) proposes an integrity monitoring test. However, a large number of satellite observation data at spatial and temporal points are required as the test basis in this test, and it is extremely difficult to achieve through actual measurement. Therefore, how to simulate satellite navigation receiver observation data, fault data and fault injection to realize the simulation research of satellite navigation is an urgent problem to be solved at present. Summary of the Invention

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

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

[0006] Obtain satellite orbit parameters and initial simulated pseudorange, and 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 and the initial simulated pseudorange;

[0007] Obtain the position of the simulated observation point, and calculate the first satellite-earth distance between the simulated observation point and 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 position of the simulated observation point;

[0008] Calculate the second satellite positions of each satellite from the start time to the end time of the simulated observation data based on the first satellite-ground distance and the satellite orbit parameters; the error of the second satellite positions is less than that of the first satellite positions.

[0009] Calculate the elevation angles of the satellites relative to the simulated observation point through the second satellite positions and the simulated observation point positions, calculate the visible satellites of the simulated observation point at each moment according to the elevation angles, and then calculate the second satellite-ground distances between the simulated observation point and the visible satellites.

[0010] Add errors and faults to the second satellite-ground distances to generate satellite pseudoranges, generate satellite signal-to-noise ratios based on the satellite pseudoranges, then determine the Doppler frequency offsets caused by satellite movement, and output the visible satellites, the satellite pseudoranges, the satellite signal-to-noise ratios, and the Doppler frequency offsets to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point for satellite navigation simulation.

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

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

[0013] Optionally, the calculating the first satellite positions of each satellite from the start time to the end time of the simulated observation data based on the satellite orbit parameters and the initial simulated pseudoranges includes:

[0014] Obtain the start time and the end time of the simulated observation data.

[0015] Calculate the first satellite positions of each satellite from the start time to the end time of the simulated observation data based on the satellite orbit parameters, the initial simulated pseudoranges, the start time of the simulated observation data, and the end time of the simulated observation data.

[0016] Optionally, the calculating the elevation angles of the satellites relative to the simulated observation point through the second satellite positions and the simulated observation point positions, and calculating the visible satellites of the simulated observation point at each moment according to the elevation angles includes:

[0017] Obtain the differences between the second satellite positions and the simulated observation point positions on the E-axis, N-axis, and U-axis respectively in the ENU coordinate system, and take the square root of the sum of the squares of the differences on the E-axis, N-axis, and 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 the second data, and perform an arcsine function calculation on the second data to obtain the elevation angle of each satellite relative to the simulated observation point;

[0019] Calculate the visible satellites of each simulated observation point according to the elevation angle and the elevation angle threshold specified by the CTSO standard.

[0020] Optionally, the calculation of the second satellite-ground distance between the simulated observation point and the visible satellite includes:

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

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

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

[0024] Add faults to each satellite, and generate satellite pseudorange based on the signal self-error, the signal propagation path error, the receiver self-error, and the faults.

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

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

[0027] Calculate the ratio of the component to the speed of light, and determine the Doppler frequency shift based on the product of the ratio and the signal frequency of each satellite.

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

[0029] A first satellite position acquisition module, configured to acquire satellite orbit parameters and an initial simulated pseudorange, and calculate the first satellite position of each satellite at each moment from the start time to the end time of the simulated observation quantity based on the satellite orbit parameters and the initial simulated pseudorange;

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

[0031] A second satellite position calculation module, configured to calculate the second satellite position of each satellite at each moment from the start time to the end time of the simulated observation quantity based on the first satellite-ground distance and the satellite orbit parameters; the error of the second satellite position is less than that of the first satellite position;

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

[0033] An observation data acquisition module, configured to add errors and faults to the second satellite-ground distance to generate satellite pseudorange, generate satellite signal-to-noise ratio based on the satellite pseudorange, then determine the Doppler frequency offset caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio, and the Doppler frequency offset 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] A memory, configured to store a computer program;

[0036] A processor, configured to execute the computer program to implement the foregoing method for simulating and injecting satellite navigation receiver observation data and faults.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium, configured to store a computer program; wherein, when the computer program is executed by a processor, the foregoing method for simulating and injecting satellite navigation receiver observation data and faults is implemented.

[0038] As can be seen from the above, the present application first obtains satellite orbit parameters and initial simulated pseudorange, and calculates 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 and the initial simulated pseudorange; obtains the position of the simulated observation point, and calculates the first satellite-earth distance between the simulated observation point and 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 position of the simulated observation point; calculates 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-earth distance and the satellite orbit parameters; the error of the second satellite position is less than that of the first satellite position; calculates the elevation angle of each satellite relative to the simulated observation point through the second satellite position and the position of the simulated observation point, and calculates the visible satellites of the simulated observation point at each moment according to the elevation angle, and then calculates the second satellite-earth distance between the simulated observation point and the visible satellites; adds errors and faults to the second satellite-earth distance to generate satellite pseudorange, and generates satellite signal-to-noise ratio based on the satellite pseudorange, then determines the Doppler frequency shift caused by satellite movement, and outputs the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio and the Doppler frequency shift to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point for satellite navigation simulation. In this way, the present application first determines the observation data of the simulated observation point such as visible satellites, satellite pseudorange, satellite signal-to-noise ratio, Doppler frequency shift, etc. by calculating the satellite orbit parameters and the initial simulated pseudorange, and uses the observation data for satellite navigation simulation; that is, the present application realizes the simulation research of satellite navigation by simulating and generating the observation data of the satellite navigation receiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0040] Figure 1 It is a flowchart of a method for simulating and injecting observation data and faults of a satellite navigation receiver disclosed in the present application;

[0041] Figure 2 It is a schematic diagram of error addition disclosed in the present application;

[0042] Figure 3 It is a system architecture diagram of a method for simulating and injecting observation data and faults of a satellite navigation receiver disclosed in the present application;

[0043] Figure 4Schematic diagram of the structure of an observation data and fault simulation injection device for a satellite navigation receiver disclosed in the present application;

[0044] Figure 5 Structural diagram of an electronic device disclosed in the present application. Specific implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] ICAO clearly defines 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 be gradually incorporated into the civil aviation GNSS standard framework and become one of the core constellations. It is necessary to carefully evaluate its global service capabilities, especially global availability. Based on this, integrity monitoring tests are proposed in the CTSO, but a large number of spatio-temporal satellite observation data are required as the test basis in this test, and it is too difficult to achieve through actual measurement. Therefore, the present application will specifically introduce a satellite navigation receiver observation data and fault simulation injection method that can solve the above problems.

[0047] See 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: Obtain satellite orbit parameters and an initial simulated pseudorange, and 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 and the initial simulated pseudorange.

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

[0050] In this embodiment, the start time and end time of the simulated observables are obtained; based on the satellite orbit parameters, the initial simulated pseudorange, the start time of the simulated observables, and the end time of the simulated observables, the first satellite position of each satellite at each moment from the start time of the simulated observables to the end time of the simulated observables 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: Obtain the position of the simulated observation point, and calculate the first satellite-earth distance between the simulated observation point and each satellite at each moment from the start time of the simulated observables to the end time of the simulated observables based on the position of the simulated observation point.

[0052] In this embodiment, in order to perform accurate satellite navigation and positioning analysis, the position information of the simulated observation point needs to be obtained first. Among them, the simulated observation points can be distributed in different regions on the earth's surface. Next, based on the position information of the simulated observation point, the first satellite-earth distance between the simulated observation point and each satellite at each moment from the start time of the simulated observables to the end time of the simulated observables is calculated. It should be noted that each moment refers to a very high time resolution, such as a time interval of one second or shorter.

[0053] Step S13: Calculate the second satellite position of each satellite at each moment from the start time of the simulated observables to the end time of the simulated observables based on the first satellite-earth distance and the satellite orbit parameters; the error of the second satellite position is less than that of the first satellite position.

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

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

[0056] In this embodiment, the differences between the second satellite position and the simulated observation point position on the E-axis, N-axis, and U-axis are respectively 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; 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 the second data, and perform an arcsine function calculation on the second data to obtain the elevation angle of each satellite relative to the simulated observation point; calculate the visible satellites of the simulated observation point at each moment according to the elevation angle and the elevation angle threshold value specified by the CTSO standard; calculate the second satellite-ground distance between the simulated observation point and each visible satellite at each moment from the start time to the end time of the simulated observation quantity based on the simulated observation point position. It can be understood that based on the ENU coordinate system, the satellite sky view of the user can be conveniently obtained, and the satellite elevation angle is calculated using the ENU LOS (line-of-sight) vector: the angle at which the observation vector is higher than the horizontal plane formed by the E-axis and N-axis, also known as the satellite elevation angle. The formula is as follows:

[0057] ;

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

[0059] Step S15: Add errors and faults to the second satellite-ground distance to generate satellite pseudorange, generate satellite signal-to-noise ratio based on the satellite pseudorange, then determine the Doppler frequency shift caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio, and the Doppler frequency shift to obtain the observation data of the simulated observation point, so as to use the observation data of the simulated observation point for satellite navigation simulation.

[0060] In this embodiment, signal self-error, signal propagation path error, and receiver self-error are added to the second satellite-ground distance; faults are added to each of the satellites, and satellite pseudorange is generated based on the signal self-error, the signal propagation path error, the receiver self-error, and the faults. It should be noted that the schematic diagram of adding errors to the second satellite-ground distance is as Figure 2 shown. There are various errors in the user-measured pseudorange, which is the most important factor affecting positioning performance. According to the error sources, it can be divided into three major parts: the self-error of GNSS signals, mainly including orbit error (i.e., ephemeris error) and satellite clock error; the signal propagation path error of GNSS signals, mainly including ionospheric delay and tropospheric delay; the self-error of GNSS receivers, mainly including receiver noise and multipath effect. It should be noted that the user equivalent pseudorange error variance of satellite i pseudorange measurement is:

[0061] ;

[0062] where represents the error of the satellite ephemeris and satellite clock error model, represents the ionospheric delay error, represents multipath and airborne receiver noise, represents the tropospheric delay error. In addition, faults can be selected to be added to the satellites, and the target satellites, start and end times, and fault types (step fault or ramp fault) for adding faults can be selected; if it is a step error of k meters for the pseudorange, then n meters are added to the pseudorange of the faulty satellite during the fault period, and if it is a ramp fault of n meters per second, then k*x meters are added to the pseudorange of the faulty satellite every x seconds starting from the start time of the fault until the pseudorange of the faulty satellite returns to normal at the end time of the fault.

[0063] In this embodiment, the component of the moving speed of each of the satellites 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 shift is determined based on the product of the ratio and the signal frequency of each of the satellites. It can be understood that the calculation formula of the Doppler frequency shift is as follows:

[0064] ;

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

[0066] In this embodiment, in order to generate satellite observable data with a configuration that meets the availability test requirements of the integrity compliance verification test in the CTSO standard, faults can be added to each satellite at each observation space-time point individually to form multiple copies of simulated observable 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, space-time points are sampled every 3 degrees. The points on each latitude circle are evenly distributed in longitude, with a total of 2353 space points, and the total number of space-time points is 2353×144 = 338832 points. Define as follows:

[0067] ;

[0068] Among them, represents the step size, represents the latitude, and degress represents degrees.

[0069] As can be seen from the above, in this embodiment, the satellite orbit parameters and the initial simulated pseudorange are first obtained, and 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 is calculated based on the satellite orbit parameters and the initial simulated pseudorange; the position of the simulated observation point is obtained, and the first satellite-ground distance between the simulated observation point and each satellite at each moment from the start time of the simulated observation quantity to the end time of the simulated observation quantity is calculated based on the position of the simulated observation point; 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 is calculated based on the first satellite-ground distance and the satellite orbit parameters; the error of the second satellite position is less than that of the first satellite position; the elevation angle of each satellite relative to the simulated observation point is calculated through the second satellite position and the position of the simulated observation point, and the visible satellites of the simulated observation point at each moment are calculated according to the elevation angle, and then the second satellite-ground distance between the simulated observation point and the visible satellites is calculated; an error and a fault are added to the second satellite-ground distance to generate a satellite pseudorange, and a satellite signal-to-noise ratio is generated based on the satellite pseudorange, and then the Doppler frequency shift caused by the satellite movement is determined, and the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio, and the Doppler frequency shift are output 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. In this way, this application first determines the observation data of the simulated observation point such as visible satellites, satellite pseudorange, satellite signal-to-noise ratio, and Doppler frequency shift by calculating the satellite orbit parameters and the initial simulated pseudorange, and performs satellite navigation simulation using the observation data; that is, this application realizes the simulation research of satellite navigation by simulating and generating the observation data of the satellite navigation receiver.

[0070] In summary, as Figure 3 shown, this 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 uses , the start time of the simulated observation , the end time of the simulated observation to calculate the positions of each satellite at each moment between ; then based on the satellite-ground distance between and the receiver position to calculate the positions of each satellite at each moment between ; then find the visible satellites according to the elevation angle of each satellite relative to the receiver, and then find the satellite-ground distance between the visible satellite positions at each moment and the receiver position , and finally for the satellite-ground distance Add errors and perform corrections based on the errors to obtain the pseudorange between visible satellites and the receiver at each moment. And output the above relevant data.

[0071] Correspondingly, as shown in Figure 4 the embodiments of the present application also provide a satellite navigation receiver observation data and fault simulation injection device, which may include:

[0072] The first satellite position obtaining module 11 is configured to obtain satellite orbit parameters and initial simulated pseudorange, and calculate the first satellite position of each satellite from the start time of the simulated observation quantity to the end time of the simulated observation quantity based on the satellite orbit parameters and the initial simulated pseudorange;

[0073] The first satellite-earth distance calculation module 12 is configured to obtain the position of the simulated observation point, and calculate the first satellite-earth distance between the simulated observation point and each satellite from the start time of the simulated observation quantity to the end time of the simulated observation quantity based on the position of the simulated observation point;

[0074] The second satellite position calculation module 13 is configured to calculate the second satellite position of each satellite from the start time of the simulated observation quantity to the end time of the simulated observation quantity based on the first satellite-earth distance and the satellite orbit parameters; the error of the second satellite position is less than that of the first satellite position;

[0075] The second satellite-earth distance calculation module 14 is configured to calculate the elevation angle of each satellite relative to the simulated observation point through the second satellite position and the position of the simulated observation point, and calculate the visible satellites of the simulated observation point according to the elevation angle, and then calculate the second satellite-earth distance between the simulated observation point and the visible satellites;

[0076] The observation data obtaining module 15 is configured to add errors and faults to the second satellite-earth distance to generate satellite pseudorange, generate satellite signal-to-noise ratio based on the satellite pseudorange, then determine the Doppler frequency shift caused by satellite movement, and output the visible satellites, the satellite pseudorange, the satellite signal-to-noise ratio and the Doppler frequency shift 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.

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

[0078] In some specific embodiments, the first satellite position acquisition module 11 includes:

[0079] An analog pseudorange determination unit, configured to determine satellite orbit parameters based on satellite navigation constellation orbit data, and determine an initial analog pseudorange according to the satellite orbit parameters and a satellite orbit identifier.

[0080] In some specific embodiments, the first satellite position acquisition module 11 includes:

[0081] An observation time acquisition unit, configured to acquire a start time of analog observations and an end time of analog observations;

[0082] A first satellite position determination unit, configured to calculate a first satellite position of each satellite at each moment from the start time of the analog observations to the end time of the analog observations based on the satellite orbit parameters, the initial analog pseudorange, the start time of the analog observations, and the end time of the analog observations.

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

[0084] A first data acquisition unit, configured to respectively acquire differences between the second satellite position and the analog observation point position on the E axis, N axis, and U axis in the ENU coordinate system, and take the square root of the sum of squares of the differences on the E axis, N axis, and U axis to obtain first data;

[0085] An elevation angle acquisition unit, configured to calculate a ratio of the difference between the second satellite position and the analog 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 an elevation angle of each satellite relative to the analog observation point;

[0086] A visible satellite acquisition unit, configured to calculate visible satellites of the analog observation point at each moment according to the elevation angle and an elevation angle threshold value specified by the CTSO standard.

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

[0088] A second satellite-ground distance calculation unit, configured to calculate a second satellite-ground distance between the analog observation point and each of the visible satellites at each moment from the start time of the analog observations to the end time of the analog observations based on the analog observation point position.

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

[0090] A first error addition unit, configured to add a signal self-error, a signal propagation path error, and a receiver self-error to the second satellite-ground distance;

[0091] A second error addition unit, configured to add faults to each of the satellites and generate satellite pseudorange based on the signal self-error, the signal propagation path error, the receiver self-error, and the faults.

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

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

[0094] A Doppler frequency offset determination unit, configured to calculate the ratio of the component to the speed of light and determine the Doppler frequency offset based on the product of the ratio and the signal frequency of each of the satellites.

[0095] Furthermore, an embodiment of the present application also discloses an electronic device. Figure 5 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure cannot be considered as any limitation to the scope of use of the present 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. Among them, 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 foregoing 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 external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and no specific limitation is imposed on it here; the input / output interface 25 is used to acquire external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is made here.

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

[0098] Among them, the operating system 221 is used to manage and control each hardware device and computer program 222 on the electronic device 20, and it 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 executed by the electronic device 20 disclosed in any of the foregoing 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, it implements the satellite navigation receiver observation data and fault simulation injection method disclosed above. For the specific steps of this method, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0100] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made 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 reference can be made to the method part for relevant details.

[0101] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

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

[0103] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0104] The technical solutions provided in this application have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this 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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