Pseudo-range multipath error control method, system and device and storage medium

Abstract

The invention belongs to the technical field of satellite navigation, and particularly relates to a pseudo-range multipath error control method, system and device, a medium and a program product, and the pseudo-range multipath error control method comprises the following steps: collecting the multi-modal image information of the health state of personnel in a cabin; processing the multi-modal image information based on a data fusion method to obtain a comprehensive feature vector; processing the comprehensive feature vector based on a health assessment model to obtain a health state assessment result of the health state of the personnel in the cabin; and the health state evaluation result is fed back to an interaction end, so that personnel in the cabin can check the health state evaluation result.

Description

Background Art

[0002] Multipath error refers to the process in which satellite signals are transmitted from the satellite antenna to the receiver antenna. Due to the reflection of the reflective objects near the receiver, the reflected signal and the direct satellite signal form a superimposed signal at the receiver antenna. The reflected signal generates an additional time delay for the observed value. This phenomenon is called multipath error, and the error caused by it is called multipath (effect) error.

[0003] At present, there are the following problems in the methods of reducing multipath errors: Traditional site selection and hardware suppression methods have limited effects in dynamic environments and are difficult to adapt to changing environmental requirements. Data post-processing algorithms are usually complex and difficult to meet the application requirements of real-time high precision. Hardware suppression methods are expensive, which limits the popularity of low-cost chipsets in high-precision positioning. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the present application provides a method, system, device, medium and program product for controlling pseudo-range multipath errors. The multipath error control method based on the software level can adapt to low-cost chipsets and dynamic positioning requirements by dynamically adjusting the variance of pseudo-range observation values ​​in real time, and provides a better cost-effectiveness ratio. Compared with traditional methods, it has significant advantages in real-time, dynamic and cost control, is suitable for a wider range of application scenarios, and can improve the reliability and practicality of low-cost and high-precision positioning services.

[0005] The first aspect of the present application provides a method for controlling pseudorange multipath errors, comprising the following steps: Providing data request instructions to the satellite navigation system; Based on the response of the satellite navigation system, an observation sequence is obtained, and cycle slip detection is performed on an original carrier phase observation value sequence in the observation sequence; Segmentally processing the observation sequence based on the cycle slip detection result to obtain a carrier phase sequence and a pseudorange sequence from the observation sequence; Based on the carrier phase sequence and the pseudorange sequence, a CMC sequence, a CMCD sequence and a pseudorange multipath error estimation sequence at each frequency point are constructed; Construct a pseudo-range multipath error detection quantity, perform significant detection on each satellite CMCD sequence and the pseudo-range multipath error estimation quantity sequence, and preset a significant threshold; If it is determined that the significant detection result is not less than a preset significance threshold, the variance of the pseudorange observation value is dynamically adjusted to suppress multipath errors.

[0006] In one embodiment, the cycle slip detection includes: performing cycle slip detection on the carrier phase observation value sequence of each satellite at each frequency point epoch by epoch.

[0007] In one embodiment, the segmentation process includes: Identify the epoch where the cycle slip occurs in the carrier phase observation value sequence based on the cycle slip detection, and use the epoch as the segmentation point; Segmenting the original carrier phase observation value sequence into a plurality of continuous carrier phase segments based on the segmentation points, and combining all the carrier phase segments into a carrier phase sequence; Based on the segmentation points, the original pseudorange observation value sequence in the observation sequence is subjected to synchronized pseudorange segment processing to obtain continuous pseudorange segments, and all the pseudorange segments are combined into a pseudorange sequence.

[0008] In one embodiment, constructing a CMC sequence, a CMCD sequence, and a pseudorange multipath error estimation sequence at each frequency point includes: Extracting all carrier phase observation values ​​and pseudorange observation values ​​in the same epoch in the carrier phase sequence and the pseudorange sequence; Based on the carrier phase observation value and the pseudo-range phase observation value in the same epoch, the difference between the carrier phase observation value and the pseudo-range phase observation value is calculated to obtain the CMC observation value, and all CMC observation values ​​form a CMC sequence; Obtaining a CMCD sequence through a differential operation based on the CMC sequence; Based on the CMCD sequence, a pseudorange multipath error estimation amount sequence is formed by calculating pseudorange multipath error estimation amounts at different frequency points.

[0009] In one embodiment, based on each corresponding segment in the carrier phase sequence and the pseudorange sequence, a single CMC sequence, a single CMCD sequence and a single pseudorange multipath error estimation sequence are constructed, and all segmented single CMC sequences, single CMCD sequences and single pseudorange multipath error estimation sequences are respectively combined to form the CMC sequence, the CMCD sequence and the pseudorange multipath error estimation sequence.

[0010] In one embodiment, the variance of the pseudorange observation value includes a CMCD sequence variance and a pseudorange multipath error estimation sequence variance, and the CMCD sequence variance and the pseudorange multipath error estimation sequence variance are obtained by respectively processing the CMCD sequence and the pseudorange multipath error estimation sequence through a sliding window.

[0011] In one embodiment, dynamically adjusting the variance of the pseudorange observation value includes: If the variance of the CMCD sequence is not less than the preset variance of the CMCD, then increase the variance of the pseudorange observation or reduce its weight; If the variance of the pseudorange multipath error estimation sequence is not less than the preset variance of the pseudorange, the variance of the pseudorange observation value is increased.

[0012] A second aspect of the present application provides a pseudorange multipath error control system, comprising: A request unit, used for providing a data request instruction to the satellite navigation system; A response cycle slip unit, used for acquiring an observation sequence based on a response of a satellite navigation system, and performing cycle slip detection on a carrier phase observation value sequence in the observation sequence; A segmentation unit, configured to perform segmentation processing on the observation sequence based on the cycle slip detection result, so as to obtain a carrier phase sequence and a pseudorange sequence from the observation sequence; A construction unit is used to construct CMC and CMCD based on the carrier phase sequence and the pseudorange sequence, and calculate the pseudorange multipath error estimation amount at the corresponding frequency point, and respectively form the CMCD and the pseudorange multipath error estimation amount in different time periods into a CMCD sequence and a pseudorange multipath error estimation amount sequence; A detection unit is used to construct a pseudo-range multipath error detection amount, and perform a significant detection on each satellite CMCD sequence and a pseudo-range multipath error estimation amount sequence to determine whether there is a significant pseudo-range multipath error; The judgment and adjustment unit dynamically adjusts the variance of the pseudo-range observation value according to the significant detection result to suppress the multipath error.

[0013] The third aspect of the present application provides an electronic device, comprising: a memory for storing instructions executed by one or more processors of the electronic device, and a processor, which is one of the processors of the electronic device and is used for the above-mentioned control method.

[0014] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above-mentioned control method when executed by a processor.

[0015] The beneficial effects of this application over the prior art are: The software-based multipath error control method proposed in this application can adapt to low-cost chipsets and dynamic positioning requirements by dynamically adjusting the variance of pseudo-range observations in real time, providing a better cost-effectiveness ratio. Compared with traditional methods, it has significant advantages in real-time, dynamic and cost control, is suitable for a wider range of application scenarios, and can improve the reliability and practicality of low-cost high-precision positioning services. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 According to an embodiment of the present application, a schematic flow chart of a method for controlling pseudorange multipath errors is shown.

[0018] Figure 2 According to an embodiment of the present application, a flow chart of a data fusion method is shown.

[0019] Figure 3 According to an embodiment of the present application, a flow chart of a method for constructing a CMC sequence, a CMCD sequence and a pseudorange multipath error estimation sequence at each frequency point is shown.

[0020] Figure 4 According to an embodiment of the present application, a schematic structural diagram of a pseudorange multipath error control system is shown.

[0021] Figure 5 According to an embodiment of the present application, a structural schematic diagram of a control method device is shown.

[0022] Figure 6 According to an embodiment of the present application, a schematic diagram of the structure of a computer-readable storage medium is shown. DETAILED DESCRIPTION

[0023] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through other different specific implementation methods, and the details in the present application can also be modified or changed in various ways according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0024] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in a variety of different forms and is not limited to the embodiments described herein.

[0025] In the representations of the present application, the representations with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics represented in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the represented specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples represented in the present application and the features of the different embodiments or examples, unless they contradict each other.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the representation of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] In order to clearly describe the present application, components irrelevant to the description are omitted, and the same reference symbols are given to the same or similar components throughout the specification.

[0028] Throughout the specification, when a device is said to be "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a device is said to "include" a certain component, unless otherwise stated, it does not exclude other components, but means that other components may be included.

[0029] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly" on another device, there are no other devices between it.

[0030] Although the terms first, second, etc. are used to represent various elements in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first interface and the second interface, etc. are represented. Moreover, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the existence of features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Only when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way, will there be an exception to this definition.

[0031] The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the present application. The singular form used herein also includes the plural form unless the sentence clearly indicates the contrary meaning. The meaning of "including" used in the specification is to specify specific characteristics, regions, integers, steps, operations, elements and / or components, and does not exclude the existence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0032] Although not defined differently, all terms, including technical and scientific terms used herein, have the same meaning as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are additionally interpreted as having meanings consistent with the relevant technical literature and the contents of the current disclosure, and unless defined, shall not be overly interpreted as ideal or very formal meanings.

[0033] Technical explanation: CMC: Code-Minus-Carrier / carrier-pseudorange combined observation.

[0034] CMCD: Code-Minus-Carrier Delta-range / carrier-pseudorange combined variation observation.

[0035] The following problems in the prior art are addressed: the site selection and hardware suppression methods have limited effects in dynamic environments and are difficult to adapt to changing environmental requirements; data post-processing algorithms are usually complex in operation and difficult to meet real-time and high-precision application requirements; hardware suppression methods are relatively expensive, limiting the popularity of low-cost chipsets in high-precision positioning. The multipath error control method based on the software level proposed in the present invention can adapt to low-cost chipsets and dynamic positioning requirements by dynamically adjusting the variance of pseudo-range observations in real time, providing a better cost-effectiveness ratio. Compared with traditional methods, it has significant advantages in real-time, dynamics and cost control, is suitable for a wider range of application scenarios, and can improve the reliability and practicality of low-cost and high-precision positioning services.

[0036] In some embodiments of the present application, Figure 1 As shown, a method for controlling pseudorange multipath error comprises the following steps: Step 110: Provide a data request instruction to the satellite navigation system; specifically, the GNSS receiver sends a standardized request instruction to the satellite, and sends a specific signal to the sky through the GNSS receiver, pointing to the satellite, requesting specific data.

[0037] Step 120: Based on the response of the satellite navigation system, the observation sequence is obtained, and the original carrier phase observation value sequence in the observation sequence is subjected to cycle slip detection; wherein the observation sequence includes the original carrier phase observation value sequence and the original pseudorange observation value sequence; the cycle slip refers to the change in the number of whole cycles of the carrier phase observation value during the continuous observation process, and this change will interfere with the high-precision positioning. Step 130: Based on the cycle slip detection result, the observation sequence is segmented to obtain the carrier phase sequence and the pseudorange sequence from the observation sequence; wherein the segmentation process uses the cycle slip point after the cycle slip detection as the segmentation point to segment the original carrier phase observation value sequence and the original pseudorange observation value sequence; the carrier phase sequence includes all the carrier phase segments after the segmentation, and the pseudorange sequence includes all the pseudorange segments after the segmentation.

[0038] Step 140: Based on the carrier phase sequence and the pseudorange sequence, construct the CMC sequence, CMCD sequence and the pseudorange multipath error estimation sequence at each frequency point; wherein the CMC sequence is a combination of the carrier phase observation value and the pseudorange observation value of each satellite at each epoch; the CMCD sequence is a double difference operation based on the carrier phase and pseudorange, and is usually used for the detection and compensation of multipath errors; the pseudorange multipath error estimation sequence is obtained after the multipath error estimation of the pseudorange observation value at each frequency point. It should be noted that the above three types of sequences have different construction purposes and processing methods, but they all share basic data elements: carrier phase observation value, pseudorange observation value, satellite information (number, frequency point) and time tag.

[0039] Step 150: construct a pseudo-range multipath error detection quantity, perform significant detection on each satellite CMCD sequence and pseudo-range multipath error estimation quantity sequence, and preset a significant threshold; specifically, the pseudo-range multipath error detection quantity is to extract relevant data from the constructed CMCD sequence to ensure that the data in the sequence contains information of different epoch times and satellite numbers; and obtain the error estimation value on each satellite in each epoch from the pseudo-range multipath error estimation quantity sequence at each frequency point. Subsequently, these detection quantities are used to perform significant detection to determine whether there is a significant multipath error, and the variance of the pseudo-range observation value is dynamically adjusted according to the detection result.

[0040] Step 160: If it is determined that the significant detection result is not less than the preset significance threshold, the variance of the pseudo-range observation value is dynamically adjusted to suppress the multipath error. The specific embodiments of the above steps 110 to 160 are further described below: Through the above steps 110 to 160, in the technical solution of the present disclosure, the proposed multipath error control method mainly focuses on real-time processing and dynamic application scenarios. This method can be applicable to scenarios with low-cost chipsets and high-precision positioning requirements through real-time data request and processing, combined with software-level processing, taking into account both dynamics and timeliness. Through software algorithm implementation, the dependence on hardware improvements is reduced. Therefore, even on low-cost chipsets, after appropriate algorithm tuning, effective multipath error control can be achieved, reducing the cost and complexity of achieving high-precision positioning. The variance of the pseudorange observation value is dynamically adjusted according to the significant detection results, so that the control of the multipath error can be adjusted in real time with the changes in the observation environment to adapt to the dynamic application environment.

[0041] In some embodiments of the present disclosure, in step 130 provided in the aforementioned embodiment, Figure 2 The schematic diagram of the process flow of the segmented processing method of the present application is shown in FIG. Figure 2 As shown, the segmentation process includes: Step 131: Based on cycle slip detection, identify the epoch where the cycle slip occurs in the carrier phase observation value sequence, and use the epoch as a segmentation point; wherein a cycle slip refers to a whole-cycle jump in the carrier phase observation value between consecutive measurement time points, which may cause the continuity of the carrier phase information to be destroyed. This situation is often caused by reasons such as receiver lock loss, multipath effects, or unexpected orbit errors in the satellite orbit. Specifically, a cycle slip detection algorithm (such as double difference method, single difference method, DOP test, or phase and pseudorange comparison method) is used to identify the epoch where the cycle slip occurs from the carrier phase observation value sequence; after identifying the position of the cycle slip, the epoch is set as a segmentation point, indicating that from this point on, there is a discontinuity between the previous and next observations.

[0042] Step 132: segment the original carrier phase observation value sequence into continuous carrier phase segments based on the segmentation points, and combine all the carrier phase segments into a carrier phase sequence; specifically, establish independent carrier phase sequence segments before and after the segmentation points; process the carrier phase observation value of each continuous segment through data smoothing, interpolation and other technologies to make it more continuous and accurate; combine all processed continuous carrier phase segments to form a new carrier phase sequence. It can be understood that by segmenting the carrier phase sequence, the data in each continuous segment can be better processed to reduce or eliminate the error caused by cycle slips.

[0043] Step 133: Based on the segmentation points, the original pseudorange observation value sequence in the observation sequence is synchronized with the pseudorange segment to be processed into a continuous pseudorange segment, and all pseudorange segments are combined into a pseudorange sequence. Specifically, at each segmentation point, the pseudorange observation value is recalculated or adjusted to ensure that the pseudorange data and carrier phase data in each segment remain synchronized; pseudorange smoothing or filtering techniques are used to reduce the impact of multipath errors on the pseudorange sequence; all processed pseudorange segments are recombined to form a continuous pseudorange sequence. The specific embodiments of the above steps 131 to 133 are further explained below: Through the above steps 131 to 133, in the technical solution of the present invention, the carrier phase and pseudorange need to be processed synchronously because there is a direct relationship between them. Through segmented processing and synchronous adjustment, the multipath error in the pseudorange can be better handled and the continuity of the carrier phase observation value can be improved. The purpose of segmented processing and recombinant sequence is to reduce error propagation and improve the quality of observations, thereby achieving higher accuracy in the final positioning or navigation application. In GNSS real-time positioning or precise point positioning (PPP), these steps can help monitor and correct measurement errors in real time to ensure the continuity and accuracy of positioning.

[0044] In some embodiments of the present disclosure, in step 140 provided in the aforementioned embodiment, Figure 3 The flowchart of the method for constructing the CMC sequence, CMCD sequence and pseudo-range multipath error estimation sequence at each frequency point is shown in the present application. Figure 3 As shown, constructing the CMC sequence, CMCD sequence and pseudo-range multipath error estimation sequence at each frequency point includes: Step 141: extract all carrier phase observations and pseudorange observations in the same epoch in the carrier phase sequence and pseudorange sequence; specifically, the units of the carrier phase observations and pseudorange observations are meters, and the carrier phase observations , pseudorange observation value .

[0045] in, Indicates satellite, Indicates frequency ( ).

[0046] Indicates satellite The geometric distance to the current receiver, in meters; It includes satellite clock error, receiver clock error and tropospheric delay error.

[0047] Indicates frequency On Satellite The ionospheric delay error suffered by the signal during propagation, measured in meters.

[0048] Indicates frequency The wavelength of a wave is in meters.

[0049] Indicates frequency On Satellite The carrier phase ambiguity parameter between the receiver and the current receiver, in cycles.

[0050] , The frequency points Upper carrier phase multipath error and pseudorange multipath error, in meters.

[0051] , The noise term for the carrier phase and pseudorange includes observation noise and other unmodeled error terms.

[0052] Step 142: Based on the carrier phase observation value and the pseudo-range phase observation value in the same epoch, the difference between the carrier phase observation value and the pseudo-range phase observation value is calculated to obtain a CMC observation value, and all CMC observation values ​​form a CMC sequence. Specifically, according to the above carrier phase observation value Pseudorange observations The CMC observation value is calculated: .

[0053] in, epoch Time-frequency point The CMC observation quantity on , in meters.

[0054] Indicates frequency ( ), Represents the epoch.

[0055] : Pseudorange observation value at frequency point i at epoch k, in meters.

[0056] : The carrier phase observation value at frequency point i at epoch k, in meters.

[0057] : Ionospheric delay error at frequency point i at epoch k, in meters.

[0058] : Pseudorange multipath error on frequency point i at epoch k, in meters.

[0059] : The carrier phase ambiguity parameter at frequency point i at epoch k, in cycles.

[0060] : The carrier phase multipath error at frequency i at epoch k, in meters.

[0061] epoch Time, frequency Since the multipath error on the carrier phase is much smaller than the multipath error on the pseudorange, this term can be ignored, and then .

[0062] Step 143: Obtain a CMCD sequence by differential operation based on the CMC sequence. The CMCD sequence is a combination of CMCD observation values; specifically, according to the CMC observation values Further obtain the CMCD observation value at this frequency point ; in, Represents epoch With epoch time interval.

[0063] epoch The rate of change of the ionosphere is generally a very small value.

[0064] , is the pseudorange multipath change rate and the observation noise change term.

[0065] According to the CMCD observation value, at the frequency On Satellite When the carrier phase observation ambiguity parameter does not jump, It reflects the changing state of pseudorange multipath error.

[0066] Step 144: Based on the CMCD sequence, the pseudo-range multipath error estimation values ​​at different frequency points are calculated to form a pseudo-range multipath error estimation value sequence. Pseudorange observations Available frequency Estimator of upper pseudorange multipath error .

[0067] when hour, ;when hour, .

[0068] in, and Contains carrier phase parameters and unmodeled noise terms , .

[0069] .

[0070] .

[0071] Depend on and The expression shows the epoch Time-frequency point or On Satellite When the carrier phase observation ambiguity parameter does not jump, it is consistent with the epoch The corresponding values ​​at epoch should be consistent. To epoch Time-frequency point or No cycle slips were found in the ambiguities on The epoch change state can be reflected by the right side of the above equation.

[0072] In some embodiments of the present disclosure, in step 140 provided in the aforementioned embodiment, a single CMC sequence, a single CMCD sequence, and a single pseudorange multipath error estimation sequence are constructed based on each corresponding segment in the carrier phase sequence and the pseudorange sequence, and all segmented single CMC sequences, single CMCD sequences, and single pseudorange multipath error estimation sequences are combined to form a CMC sequence, a CMCD sequence, and a pseudorange multipath error estimation sequence, respectively. The above data construction according to each segment has the following effects: 1. Improve computing efficiency: By processing data in segments, parallel computing resources can be effectively utilized to speed up the entire processing process. Each segment can be processed in parallel on a separate computing thread or processor, reducing the total computing time. Segment processing can process each segment on a low-cost chip, and through parallel processing of multiple low-cost chips, computing efficiency is guaranteed and costs are reduced.

[0073] 2. Improved robustness and reliability: Segment processing helps manage and control outliers and errors. If outliers or measurement errors occur within a segment, these problems can be isolated and handled separately, reducing the impact on the entire data set.

[0074] 3. Easy to debug and maintain: Segmented processing models make debugging easier because problems can be traced to specific segments without having to process the entire dataset. This approach helps to quickly discover and correct problems.

[0075] 4. Flexible adaptation to dynamic environments: Segmented processing makes it possible to make targeted adjustments to measurement data under different environments and conditions. Each segment can be individually adjusted and optimized based on specific parameters (such as signal quality, geographical area, etc.).

[0076] 5. Noise and interference management: effectively process and filter noise and interference signals in each segment. Since multipath errors, electronic equipment noise, etc. may have local characteristics in time, segment processing can manage these variables more finely.

[0077] In the above-mentioned embodiment, in the technical solution of the present disclosure, by constructing a single CMC sequence in segments and then forming an overall CMC sequence, the ionospheric delay and multipath error can be estimated more accurately. The CMC observation value calculated by each segment will ensure higher accuracy through time error isolation. By calculating the pseudo-range multipath error in each time window in segments, different correction models can be applied more flexibly according to specific circumstances to reduce the multipath effect in the pseudo-range observation value. For model adaptation in different environments (such as urban environments and open areas), the correction model effect can be significantly and flexibly improved through separate segment processing. By reducing the errors caused by the ionosphere and multipath effects, the accuracy of the final positioning can be significantly improved.

[0078] In some embodiments of the present disclosure, in step 160 provided in the aforementioned embodiment, the variance of the observed value includes the variance of the CMCD sequence and the variance of the pseudo-range multipath error estimation sequence, and the variance of the CMCD sequence and the variance of the pseudo-range multipath error estimation sequence are obtained by respectively processing the CMCD sequence and the pseudo-range multipath error estimation sequence through a sliding window. Specifically, the sliding window method refers to statistically analyzing sequence data through a moving time window, and the window size is fixed but moves on the time axis.

[0079] In some embodiments of the present disclosure, when calculating the CMCD sequence variance and the pseudo-range multipath error estimation sequence variance, the sliding window width is set to is the number of epochs of the window, where ), k is the index of the current epoch.

[0080] Recursively calculate the mean and variance: For the CMCD sequence (Carrier Minus Carrier-derived Code), the mean for:

[0081] Its variance for:

[0082] For the pseudorange multipath error estimator sequence , its mean for:

[0083] Its variance for:

[0084] When the sliding window moves, old data points are gradually removed and new data points are added to update the window, and the mean and variance are updated using a recursive formula, thereby reducing the workload of each sliding calculation: Specifically, the mean recursive formula is as follows: When new data points enter the window and old data points leave, the mean is updated as:

[0085] in, is the data point for exiting the window, is the data point to be added to the window.

[0086] The variance recursion formula is:

[0087] Through the recursive calculation method of the sliding window, we can obtain the CMCD sequence variance and pseudo-range multipath error estimation sequence variance in real time, so as to effectively detect and suppress the impact of multipath effect. This is very important in high-precision positioning and measurement applications, especially: GNSS systems such as GPS and BDS can improve positioning accuracy and reduce the impact of multipath error on the final result by dynamically adjusting the observation value weight.

[0088] In some embodiments of the present disclosure, in step 160 provided in the aforementioned embodiment, dynamically adjusting the variance of the pseudorange observation value includes: If the variance of the CMCD sequence is not less than the CMCD preset variance ( ), the variance of the pseudorange observation is increased or its weight is reduced; it can be understood that the variance of the pseudorange observation is dynamically increased to reflect the larger measurement error under the current observation conditions. This step can reduce the weight of the pseudorange observation to ensure that its impact on the result is reduced during the positioning process.

[0089] If the variance of the pseudorange multipath error estimation sequence is not less than the pseudorange preset variance ( ), the variance of the pseudorange observation value is increased; it can be understood that increasing the variance of the pseudorange observation value and reducing its weight can reduce the impact of multipath error on the final positioning result.

[0090] In the above embodiment, in the technical solution disclosed in the present invention, performing multipath error change detection on the pseudorange multipath error detection amount includes: For CMCD statistics:

[0091] in, is the scale factor of the CMCD statistic ( ).

[0092] For the pseudorange multipath error estimate :

[0093] in, For the estimated The scale factor ( ), It is a dynamic value related to the (filtering) solution process, which is related to the accuracy of the pseudorange observation and the convergence state of the (filtering) parameters of the corresponding satellite. The variance of the satellite pseudorange observation value during the period of significant multipath error is dynamically adjusted to suppress the influence of the satellite pseudorange multipath error during this period. Through such a data processing strategy, the positioning stability and accuracy of the GNSS system in various complex environments can be effectively improved.

[0094] The control method of the present invention can be actually applied to the following occasions: Autonomous driving navigation: Ensure positioning accuracy in complex urban environments, thereby improving driving safety and automation.

[0095] Topographic mapping and geological activity monitoring: Real-time error management during data collection ensures the quality and accuracy of measurement results.

[0096] In some embodiments of the present disclosure, Figure 5 A schematic diagram of the structure of a pseudo-range multipath error control system is provided. Figure 5As shown, this pseudo-range multipath error control system is used to implement the pseudo-range multipath error control method provided in the above embodiment, which may specifically include: The request unit 501 is used to provide a data request instruction to the satellite navigation system; A cycle slip response unit 502 is used to obtain an observation sequence based on a response of the satellite navigation system, and perform cycle slip detection on a carrier phase observation value sequence in the observation sequence; A segmentation unit 503 is used to segment the observation sequence based on the cycle slip detection result to obtain a carrier phase sequence and a pseudorange sequence from the observation sequence; The construction unit 504 is used to construct CMC and CMCD based on the carrier phase sequence and the pseudorange sequence, calculate the pseudorange multipath error estimation amount at the corresponding frequency point, and respectively form the CMCD and pseudorange multipath error estimation amount in different time periods into a CMCD sequence and a pseudorange multipath error estimation amount sequence; The detection unit 505 is used to construct a pseudo-range multipath error detection amount, and perform a significant detection on each satellite CMCD sequence and the pseudo-range multipath error estimation amount sequence to determine whether there is a significant pseudo-range multipath error; The judgment and adjustment unit 506 dynamically adjusts the variance of the pseudo-range observation value according to the significant detection result to suppress the multipath error.

[0097] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "platform".

[0098] Specifically, Figure 5 According to an embodiment of the present disclosure, a schematic diagram of the structure of an electronic device is shown. Figure 5 The electronic device 600 according to this embodiment of the present disclosure is described. Figure 5 The electronic device 600 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0099] like Figure 5 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0100] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present disclosure. For example, the processing unit 610 can perform the following steps: Figure 1 Relevant steps of the method for controlling pseudorange multipath error shown in .

[0101] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 6201 and / or a cache storage unit 6202 , and may further include a read-only storage unit (ROM) 6203 .

[0102] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0103] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0104] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0105] The embodiment of the present disclosure also provides a computer-readable storage medium for storing a program, and the steps of the method for controlling pseudo-range multipath errors are implemented when the program is executed. In some possible implementations, various aspects of the present disclosure can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above-mentioned copywriting generation method section of this specification.

[0106] Specifically, Figure 6 According to an embodiment of the present disclosure, a schematic diagram of the structure of a computer-readable storage medium is shown. Figure 6 As shown, a program product 800 for implementing the above-mentioned pseudo-range multipath error control method according to an embodiment of the present disclosure is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, system or device.

[0107] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0108] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, system, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0109] The program code for executing the specific implementation operation of the control method of pseudo-range multipath error provided by the aforementioned embodiment of the present disclosure can be written in any combination of one or more programming languages, and the programming language includes an object-oriented programming language, such as Java, C++, etc., and also includes a conventional procedural programming language, such as "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0110] In summary, through the technical solution provided by the present disclosure, the proposed multipath error control method mainly focuses on real-time processing and dynamic application scenarios. This method can be applied to scenarios with low-cost chipsets and high-precision positioning requirements through real-time data request and processing, combined with software-level processing, taking into account both dynamics and timeliness. Through software algorithm implementation, the reliance on hardware improvements is reduced. Therefore, even on low-cost chipsets, after appropriate algorithm tuning, effective multipath error control can be achieved, reducing the cost and complexity of achieving high-precision positioning. The significant detection results dynamically adjust the variance of the pseudorange observation value, so that the control of the multipath error can be adjusted in real time with the changes in the observation environment, adapting to the dynamic application environment.

[0111] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for controlling pseudorange multipath error, characterized in that: The steps include: Providing data request instructions to the satellite navigation system; Based on the response of the satellite navigation system, an observation sequence is obtained, and cycle slip detection is performed on an original carrier phase observation value sequence in the observation sequence; Based on the cycle slip detection result, the observation sequence is segmented to obtain a carrier phase sequence and a pseudorange sequence from the observation sequence; Based on the carrier phase sequence and the pseudorange sequence, a CMC sequence, a CMCD sequence and a pseudorange multipath error estimation sequence at each frequency point are constructed; Construct a pseudo-range multipath error detection quantity, perform significant detection on each satellite CMCD sequence and the pseudo-range multipath error estimation quantity sequence, and preset a significant threshold; If it is determined that the significant detection result is not less than a preset significance threshold, the variance of the pseudorange observation value is dynamically adjusted to suppress multipath errors.

2. The control method according to claim 1, characterized in that: The cycle slip detection includes: performing cycle slip detection on the carrier phase observation value sequence of each satellite at each frequency point epoch by epoch.

3. The control method according to claim 2, characterized in that: The segmentation process includes: Identify the epoch where the cycle slip occurs in the carrier phase observation value sequence based on the cycle slip detection, and use the epoch as the segmentation point; Segmenting the original carrier phase observation value sequence into a plurality of continuous carrier phase segments based on the segmentation points, and combining all the carrier phase segments into a carrier phase sequence; Based on the segmentation points, the original pseudorange observation value sequence in the observation sequence is subjected to synchronized pseudorange segment processing to obtain continuous pseudorange segments, and all the pseudorange segments are combined into a pseudorange sequence.

4. The control method according to claim 1, characterized in that: Constructing the CMC sequence, CMCD sequence and pseudo-range multipath error estimation sequence at each frequency point includes: Extracting all carrier phase observation values ​​and pseudorange observation values ​​in the same epoch in the carrier phase sequence and the pseudorange sequence; Based on the carrier phase observation value and the pseudo-range phase observation value in the same epoch, the difference between the carrier phase observation value and the pseudo-range phase observation value is calculated to obtain the CMC observation value, and all CMC observation values ​​form a CMC sequence; Obtaining a CMCD sequence through a differential operation based on the CMC sequence; Based on the CMCD sequence, a pseudorange multipath error estimation amount sequence is formed by calculating pseudorange multipath error estimation amounts at different frequency points.

5. The control method according to claim 1, characterized in that: Based on each corresponding segment of the carrier phase sequence and the pseudorange sequence, a single CMC sequence, a single CMCD sequence and a single pseudorange multipath error estimation sequence are constructed, and all segmented single CMC sequences, single CMCD sequences and single pseudorange multipath error estimation sequences are respectively combined to form the CMC sequence, the CMCD sequence and the pseudorange multipath error estimation sequence.

6. The control method according to claim 1, characterized in that: The variance of the pseudorange observation value includes a CMCD sequence variance and a pseudorange multipath error estimation sequence variance, and the CMCD sequence variance and the pseudorange multipath error estimation sequence variance are obtained by respectively processing the CMCD sequence and the pseudorange multipath error estimation sequence through a sliding window.

7. The control method according to claim 6, characterized in that: Dynamically adjusting the variance of pseudorange observations includes: If the variance of the CMCD sequence is not less than the preset variance of the CMCD, then increase the variance of the pseudorange observation or reduce its weight; If the variance of the pseudorange multipath error estimation sequence is not less than the preset variance of the pseudorange, the variance of the pseudorange observation value is increased.

8. A control system for pseudorange multipath error, characterized in that: include: A request unit, used for providing a data request instruction to the satellite navigation system; A response cycle slip unit, used for acquiring an observation sequence based on a response of a satellite navigation system, and performing cycle slip detection on a carrier phase observation value sequence in the observation sequence; A segmentation unit, configured to perform segmentation processing on the observation sequence based on the cycle slip detection result, so as to obtain a carrier phase sequence and a pseudorange sequence from the observation sequence; A construction unit is used to construct CMC and CMCD based on the carrier phase sequence and the pseudorange sequence, and calculate the pseudorange multipath error estimation amount at the corresponding frequency point, and respectively form the CMCD and the pseudorange multipath error estimation amount in different time periods into a CMCD sequence and a pseudorange multipath error estimation amount sequence; A detection unit is used to construct a pseudo-range multipath error detection amount, and perform a significant detection on each satellite CMCD sequence and a pseudo-range multipath error estimation amount sequence to determine whether there is a significant pseudo-range multipath error; The judgment and adjustment unit dynamically adjusts the variance of the pseudo-range observation value according to the significant detection result to suppress the multipath error.

9. An electronic device, characterized in that: include: A memory for storing instructions executed by one or more processors of an electronic device, and a processor, which is one of the processors of the electronic device, for executing the control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the control method according to any one of claims 1 to 7 when executed by a processor.

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