Pseudo-range multipath deviation determination method and device, storage medium and electronic device

Abstract

The embodiment of the invention provides a pseudo-range multipath deviation determination method. Comprising the following steps: according to a phase center error value of a satellite antenna for transmitting signals on a plurality of frequency points by a first satellite under a satellite-fixed system and first information under an earth-centered earth-fixed system, determining a distance correction amount of projection of a phase center of the satellite antenna for transmitting signals on the plurality of frequency points in a sight line direction of the first satellite, the first information comprises position information of a first satellite, sun position information and receiver position information of the first satellite; based on a first distance correction amount of a phase center of the satellite antenna transmitting the signal on the first frequency point and a second distance correction amount of a phase center of the satellite antenna transmitting the signal on the second frequency point, determining a target pseudo-range multipath deviation of the satellite antenna transmitting the signal on the first frequency point, the first frequency point is any frequency point included in the plurality of frequency points, and the second frequency points are other frequency points except the first frequency point included in the plurality of frequency points.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and in particular, to a method, device, storage medium, electronic device and program product for determining a pseudorange multipath deviation. Background Art

[0002] Pseudo-range multipath bias is one of the key factors affecting the positioning accuracy of satellite systems. By effectively evaluating and correcting these biases, the accuracy of satellite navigation services such as single-point positioning and precise single-point positioning can be significantly improved. The pseudo-range multipath bias determination method in the related art has a large error problem when applied to low-orbit satellites. Summary of the invention

[0003] According to one embodiment of the present invention, a method for determining a pseudorange multipath deviation is provided, the method comprising: determining a distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at the above-mentioned multiple frequency points in the line of sight direction of the above-mentioned first satellite according to a phase center error value of a satellite antenna transmitting signals at multiple frequency points by a first satellite in a satellite-fixed system and first information in an earth-centered earth-fixed system, wherein the above-mentioned first information comprises: position information of the above-mentioned first satellite, sun position information and receiver position information of the above-mentioned first satellite; based on a first distance correction amount of the phase center of the above-mentioned satellite antenna transmitting signals at the first frequency point and a second distance correction amount of the phase center of the above-mentioned satellite antenna transmitting signals at the second frequency point, determining a target pseudorange multipath deviation of the above-mentioned satellite antenna transmitting signals at the above-mentioned first frequency point, wherein the above-mentioned first frequency point is any frequency point included in the above-mentioned multiple frequency points, and the above-mentioned second frequency point is a frequency point other than the above-mentioned first frequency point included in the above-mentioned multiple frequency points.

[0004] In an exemplary embodiment, before determining the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency based on a first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency and a second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency, the method further includes: determining one or more of the second frequency points from the other frequency points.

[0005] In an exemplary embodiment, determining the second frequency point from the other frequency points includes one of the following: determining the frequency point whose absolute value of frequency difference with the first frequency point included in the other frequency points is the largest as the second frequency point; selecting the second frequency point from the frequency points whose absolute value of frequency difference with the first frequency point included in the other frequency points reaches a threshold according to a predetermined selection method.

[0006] In an exemplary embodiment, determining multiple second frequency points from the other frequency points includes one of the following: determining all of the other frequency points as the second frequency points; determining the absolute value of the frequency difference between each frequency point and the first frequency point in the other frequency points; sorting the other frequency points in descending order of absolute value; determining the first first number of frequency points as the second frequency points.

[0007] In an exemplary embodiment, when there are multiple second frequency points, determining the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency point and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency point includes: for each of the second frequency points, performing the following operations to obtain multiple first pseudorange multipath deviations: determining the first pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency point and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency point; and determining the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations.

[0008] In an exemplary embodiment, determining the target pseudorange multipath deviation based on the plurality of first pseudorange multipath deviations includes: determining an average value of the plurality of first pseudorange multipath deviations as the target pseudorange multipath deviation.

[0009] In an exemplary embodiment, the following formula is used based on the first frequency point The first distance correction value of the phase center of the above satellite antenna on the transmission signal And at the second frequency The second distance correction value of the phase center of the above satellite antenna on the transmission signal , determine the target pseudo-range multipath deviation of the signal transmitted by the satellite antenna at the first frequency point :

[0010] ;

[0011]

[0012] in, Frequency The pseudorange of the transmitted signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The frequency of the transmitted signal, Frequency The frequency of the transmitted signal, Frequency The wavelength of the transmitted signal, Frequency The wavelength of the transmitted signal, To include the frequency The deviation term is the constant part of the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal.

[0013] According to another embodiment of the present invention, a pseudorange multipath deviation determination device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following operations when executing the computer program: determining a distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at the multiple frequency points of a first satellite in a satellite-fixed system and first information in an earth-centered earth-fixed system, wherein the first information comprises: position information of the first satellite, sun position information, and receiver position information of the first satellite; determining a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point based on a first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency point and a second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency point, wherein the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is a frequency point other than the first frequency point included in the multiple frequency points.

[0014] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any one of the above method embodiments when run.

[0015] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0016] According to yet another embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1is a hardware structure block diagram of a mobile terminal according to a pseudorange multipath deviation determination method according to an embodiment of the present invention;

[0018] FIG. 2( a ) is a flow chart of a method for determining pseudo-range multipath deviation according to an embodiment of the present invention. Figure 1 ;

[0019] FIG2( b ) is a second flowchart of a method for determining pseudorange multipath deviation according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a distance correction amount projected in the line of sight direction of the first satellite by a phase center of a satellite antenna for transmitting signals at different frequencies by a first satellite according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of an on-orbit evaluation result of a distance correction amount projected in the line of sight direction of the first satellite by the phase center of a satellite antenna transmitting signals at different frequencies of a first satellite according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of an on-orbit evaluation result of a pseudo-range multipath deviation of an uncorrected phase center error of a satellite antenna when a first satellite transmits signals at different frequencies according to an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of an on-orbit evaluation result of a pseudo-range multipath deviation of a satellite antenna correcting a phase center error when a first satellite transmits signals at different frequencies according to an embodiment of the present invention;

[0024] Figure 7 4 is a structural block diagram of a pseudorange multipath deviation determination device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 is a hardware structure block diagram of a mobile terminal according to a pseudo-range multipath deviation determination method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the pseudo-range multipath deviation determination method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a method for determining a pseudo-range multipath deviation is provided. FIG. 2( a) is a flow chart of the method for determining a pseudo-range multipath deviation according to an embodiment of the present invention. Figure 1 , as shown in Figure 2(a), the process includes the following steps:

[0031] Step S202, determining a distance correction amount of a projection of a phase center of the satellite antenna transmitting signals at the plurality of frequencies by the first satellite in a satellite-fixed system and first information in an earth-centered earth-fixed system, wherein the first information includes: position information of the first satellite, sun position information, and receiver position information of the first satellite;

[0032] Step S204, based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency point and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency point, determine the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point, wherein the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is other frequency points included in the multiple frequency points except the first frequency point.

[0033] In the above steps, exemplarily, the phase center error value of the satellite antenna transmitting the signal at each frequency point included in the above multiple frequency points includes components in multiple directions. The position information of the above first satellite includes but is not limited to: the coordinates of the above first satellite in the above earth-centered earth-fixed system, the above sun position information includes but is not limited to: the coordinates of the sun in the above earth-centered earth-fixed system, the above receiver position information includes but is not limited to: the coordinates of the above receiver in the above earth-centered earth-fixed system, exemplarily, the above first satellite includes but is not limited to: a low-orbit satellite (for example, a satellite with an orbital height between 500 and 2000 kilometers from the ground), and the first satellite line of sight direction includes but is not limited to: the direction of the connection line from the above receiver to the above first satellite.

[0034] The execution subject of the above steps may be a server, an intelligent terminal, other terminals with computing functions, etc., but is not limited thereto.

[0035] FIG2( b ) is a second flowchart of a method for determining a pseudorange multipath deviation according to an embodiment of the present invention. As shown in FIG2( b ), illustratively, step S202 includes the following steps:

[0036] Step S2021, obtaining a phase center error value of the satellite antenna when the first satellite in the satellite-fixed system transmits signals at the multiple frequency points;

[0037] Step S2022, obtaining the position information of the first satellite in the Earth-centered Earth-fixed system and the position information of the sun in the Earth-centered Earth-fixed system, and determining a conversion matrix from the satellite-fixed system to the Earth-centered Earth-fixed system according to the position information of the first satellite and the position information of the sun;

[0038] Step S2023, determining the phase center error value of the satellite antenna for transmitting signals at the multiple frequency points by the first satellite in the earth-centered earth-fixed system based on the phase center error value of the satellite antenna for transmitting signals at the multiple frequency points by the first satellite in the satellite-fixed system and the conversion matrix;

[0039] Step S2024, obtaining receiver position information of the first satellite in the geocentric earth-fixed system, and determining a unit vector of a line of sight from the receiver to the first satellite in the geocentric earth-fixed system according to the receiver position information and the position information of the first satellite in the geocentric earth-fixed system;

[0040] Step S2025, based on the phase center error value of the satellite antenna that transmits signals at the above-mentioned first satellite in the above-mentioned geocentric earth-fixed system at the above-mentioned multiple frequency points and the above-mentioned unit vector, determine the distance correction amount of the projection of the phase center of the above-mentioned satellite antenna that transmits signals at the above-mentioned multiple frequency points in the line of sight direction of the above-mentioned first satellite.

[0041] In the step S2021, the phase center error value of the satellite antenna of the first satellite in the satellite-fixed system transmitting the signal at the multiple frequency points is Including but not limited to: ,in, is an integer greater than 0, and the values ​​of i corresponding to different frequency points are different. , They are respectively the component values ​​of the phase center error in multiple directions under the above-mentioned star-fixed system.

[0042] In the step S2022, the conversion matrix from the star-fixed system BF to the earth-centered earth-fixed system ECEF is Including but not limited to the following formula:

[0043]

[0044] in, is the position vector of the first satellite in the Earth-centered Earth-fixed system, is the sun's position vector in the above-mentioned geocentric Earth-fixed system.

[0045] In the step S2023, the phase center error value of the satellite antenna of the first satellite in the earth-centered earth-fixed system transmitting signals at the plurality of frequency points is Including but not limited to the following formula:

[0046]

[0047] in, , , They are respectively the component values ​​of the phase center error value in multiple directions under the above-mentioned Earth-centered Earth-fixed system.

[0048] In the step S2024, the unit vector of the line of sight from the receiver to the first satellite in the earth-centered earth-fixed system is Including but not limited to the following formula:

[0049]

[0050] in, is the position vector of the above receiver under the above earth-centered earth-fixed system.

[0051] In the step S2025, the distance correction value of the projection of the phase center of the satellite antenna transmitting signals at the plurality of frequencies in the line of sight of the first satellite is Including but not limited to the following formula: .

[0052] Figure 3 is a schematic diagram of a distance correction amount projected in the line of sight direction of the first satellite by the phase center of the satellite antenna when the first satellite transmits signals at different frequencies according to an embodiment of the present invention, such as Figure 3 As shown, illustratively, the first satellite is configured with a signal transmitting antenna 301 and an antenna 302 at different positions for two frequency points, and the satellite mass center 303 and the phase center 304 of the signal transmitting antenna 301 form , the satellite mass center 303 and the phase center 305 of the signal transmitting antenna 302 form , the distance corrections projected in the satellite line of sight are and . Figure 4 is a schematic diagram of an on-orbit evaluation result of a distance correction amount projected in the line of sight direction of the first satellite by the phase center of a satellite antenna transmitting signals at different frequencies of a first satellite according to an embodiment of the present invention, such as Figure 4 As shown, during the first satellite transit period, the distance correction values ​​projected in the direction of sight of the first satellite by the phase centers of the satellite antennas transmitting signals at different frequencies show obvious inconsistency, with a maximum deviation of several decimeters, and the deviation changes linearly.

[0053] Through the above steps, a method for determining the pseudorange multipath deviation of a first satellite is provided. Figure 5 is a schematic diagram of an on-orbit evaluation result of a pseudo-range multipath deviation of an uncorrected phase center error of a satellite antenna when a first satellite transmits signals at different frequencies according to an embodiment of the present invention, Figure 6is a schematic diagram of an on-orbit evaluation result of a pseudo-range multipath deviation of a satellite antenna correcting a phase center error when a first satellite transmits signals at different frequencies according to an embodiment of the present invention, such as Figure 5 , 6 As shown, based on the pseudorange multipath deviation determination method in the present application, it is possible to consider the antenna phase center error in the evaluation algorithm and make modifications, so that the obvious linear trend item appearing in the pseudorange multipath deviation sequence of the deviation determination method in the prior art disappears, thereby improving the accuracy of pseudorange multipath deviation determination.

[0054] In one embodiment, before determining the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency, the method further includes: determining one or more of the second frequency points from the other frequency points.

[0055] In one embodiment, determining the second frequency point from the other frequency points includes one of the following: determining the frequency point whose absolute value of frequency difference with the first frequency point included in the other frequency points is the largest as the second frequency point; selecting the second frequency point from the frequency points whose absolute value of frequency difference with the first frequency point included in the other frequency points reaches a threshold according to a predetermined selection method.

[0056] In the above steps, illustratively, when the first satellite includes four frequency points (i.e., F1, F2, F3, and F4), the frequency of F1 is 1.575 GHz, the frequency of F2 is 1.260 GHz, the frequency of F3 is 1.576 GHz, and the frequency of F4 is 1.203 GHz, and F1 is the first frequency point, the second frequency point is determined in the following manner:

[0057] The absolute values ​​of the frequency differences with F1 are calculated respectively: |F1-F2|=0.315 GHz, |F1-F3|=0.001 GHz, |F1-F4|=0.372 GHz, and F2 is determined as the second frequency point mentioned above.

[0058] In one embodiment, determining multiple second frequency points from the other frequency points includes one of the following: determining all of the other frequency points as the second frequency points; determining the absolute value of the frequency difference between each frequency point and the first frequency point in the other frequency points; sorting the other frequency points in descending order of absolute value; and determining the first first number of frequency points as the second frequency points.

[0059] In the above steps, the first number includes but is not limited to: 1, 2, 3, etc. The first number can be preset and determined according to the application scenario. For example, when the first number is 2, F2 and F4 are determined as the second frequency points.

[0060] In one embodiment, when there are multiple second frequency points, determining the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency point and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency point includes: for each of the second frequency points, performing the following operations to obtain multiple first pseudorange multipath deviations: determining the first pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency point and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency point; determining the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations.

[0061] In the above steps, exemplarily, when F2 and F4 are determined as the above-mentioned second frequency points, the first first pseudorange multipath deviation is first determined based on the first distance correction amount of F1 and the second distance correction amount of F2, and the second first pseudorange multipath deviation is determined based on the first distance correction amount of F1 and the second distance correction amount of F4; and then the above-mentioned target pseudorange multipath deviation is determined based on the first first pseudorange multipath deviation and the second first pseudorange multipath deviation.

[0062] In one embodiment, determining the target pseudorange multipath deviation based on the plurality of first pseudorange multipath deviations comprises: determining an average value of the plurality of first pseudorange multipath deviations as the target pseudorange multipath deviation.

[0063] In one embodiment, the following formula is used based on the first frequency point The first distance correction value of the phase center of the above satellite antenna on the transmission signal And at the second frequency The second distance correction value of the phase center of the above satellite antenna on the transmission signal , determine the target pseudo-range multipath deviation of the signal transmitted by the satellite antenna at the first frequency point :

[0064]

[0065]

[0066] in, Frequency The pseudorange of the transmitted signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The frequency of the transmitted signal, Frequency The frequency of the transmitted signal, Frequency The wavelength of the transmitted signal, Frequency The wavelength of the transmitted signal, To include the frequency The deviation term is the constant part of the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal.

[0067] In the above steps, illustratively, when F2 and F4 are determined as the above second frequency points, the first pseudo-range multipath deviation is first determined based on the first distance correction value of F1 and the second distance correction value of F2. , and determining the second first pseudo-range multipath deviation based on the first distance correction value of F1 and the second distance correction value of F4 , and then based on the first pseudo-range multipath deviation and the second multipath deviation of the first pseudorange Determine the above target pseudorange multipath deviation .

[0068] Through the pseudorange multipath deviation assessment method in this application, by taking into account the layout characteristics of the satellite antenna in the pseudorange multipath deviation assessment process, it is possible to fully consider the impact of the antenna phase center error correction at different frequencies, thereby being able to more accurately assess the quality of low-orbit navigation satellite observation data, effectively ensuring the reliability of the assessment results, and avoiding the problem of systematic deviation misjudgment caused by imperfect considerations of traditional assessment methods, thereby providing technical support for the on-orbit verification and evaluation of the low-orbit navigation augmentation system.

[0069] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0070] In this embodiment, a pseudo-range multipath deviation determination device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0071] Figure 7 is a structural block diagram of a pseudorange multipath deviation determination device according to an embodiment of the present invention. Figure 7 As shown, the device 70 includes: a memory 702, a processor 704, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following operations when executing the computer program: determining a distance correction amount of the projection of the phase center of the satellite antenna transmitting signals at the plurality of frequencies at the first satellite according to a phase center error value of the satellite antenna transmitting signals at the plurality of frequencies under a satellite-fixed system and first information under an earth-centered earth-fixed system, wherein the first information includes: position information of the first satellite, sun position information, and receiver position information of the first satellite; determining a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency based on a first distance correction amount of the phase center of the satellite antenna transmitting signals at the first frequency and a second distance correction amount of the phase center of the satellite antenna transmitting signals at the second frequency, wherein the first frequency is any frequency included in the plurality of frequencies, and the second frequency is a frequency other than the first frequency included in the plurality of frequencies.

[0072] In one embodiment, the processor 704 may also implement the following operations when executing the computer program: before determining the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency based on the first distance correction of the phase center of the satellite antenna transmitting the signal at the first frequency and the second distance correction of the phase center of the satellite antenna transmitting the signal at the second frequency, one or more of the second frequency points are determined from the other frequency points.

[0073] In one embodiment, when the processor 704 executes the computer program, it can determine the second frequency point from the other frequency points in one of the following ways: determine the frequency point with the largest absolute value of the frequency difference between the other frequency points and the first frequency point as the second frequency point; select the second frequency point from the frequency points with the absolute value of the frequency difference between the other frequency points and the first frequency point reaching a threshold in accordance with a predetermined selection method.

[0074] In one embodiment, when the processor 704 executes the computer program, it can determine multiple second frequency points from the other frequency points in one of the following ways: determine all of the other frequency points as the second frequency points; determine the absolute value of the frequency difference between each frequency point and the first frequency point in the other frequency points; sort the other frequency points in descending order of absolute value; and determine the first first number of frequency points as the second frequency points.

[0075] In one embodiment, when the processor 704 executes the computer program, the following method can be used to achieve the following situation: when there are multiple second frequency points, based on the first distance correction value of the phase center of the satellite antenna that transmits the signal at the first frequency point and the second distance correction value of the phase center of the satellite antenna that transmits the signal at the second frequency point, determine the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point: for each of the second frequency points, perform the following operations to obtain multiple first pseudorange multipath deviations: determine the first pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point based on the first distance correction value of the phase center of the satellite antenna that transmits the signal at the first frequency point and the second distance correction value of the phase center of the satellite antenna that transmits the signal at the second frequency point; determine the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations.

[0076] In one embodiment, when the processor 704 executes the computer program, determining the target pseudorange multipath deviation based on the multiple first pseudorange multipath deviations can be achieved in the following manner: determining an average value of the multiple first pseudorange multipath deviations as the target pseudorange multipath deviation.

[0077] In one embodiment, when the processor 704 executes the computer program, the following formula can be used to implement the The first distance correction value of the phase center of the above satellite antenna on the transmission signal And at the second frequency The second distance correction value of the phase center of the above satellite antenna on the transmission signal , determine the target pseudo-range multipath deviation of the signal transmitted by the satellite antenna at the first frequency point :

[0078]

[0079]

[0080] in, Frequency The pseudorange of the transmitted signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The frequency of the transmitted signal, Frequency The frequency of the transmitted signal, Frequency The wavelength of the signal transmitted on Frequency The wavelength of the transmitted signal, To include the frequency The deviation term is the constant part of the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal.

[0081] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0082] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0083] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0084] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0085] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0086] An embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0087] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0088] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining pseudorange multipath deviation, characterized in that: include: Determine a distance correction amount of a projection of a phase center of a satellite antenna transmitting signals at multiple frequencies by a first satellite in a satellite-fixed system and first information in an earth-centered earth-fixed system, wherein the first information includes: position information of the first satellite, sun position information, and receiver position information of the first satellite; Based on a first distance correction of the phase center of the satellite antenna transmitting signals at a first frequency point and a second distance correction of the phase center of the satellite antenna transmitting signals at a second frequency point, a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point is determined, wherein the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is a frequency point included in the multiple frequency points except the first frequency point.

2. The method according to claim 1, characterized in that: Before determining a target pseudorange multipath deviation of the satellite antenna transmitting a signal at the first frequency point based on a first distance correction amount of a phase center of the satellite antenna transmitting a signal at the first frequency point and a second distance correction amount of a phase center of the satellite antenna transmitting a signal at the second frequency point, the method further includes: One or more second frequency points are determined from the other frequency points.

3. The method according to claim 2, characterized in that Determining the second frequency point from the other frequency points includes one of the following: Determine a frequency point, among the other frequency points, whose absolute value of frequency difference with the first frequency point is the largest as the second frequency point; The second frequency point is selected in a predetermined selection manner from the frequency points included in the other frequency points and the frequency absolute value of the frequency difference between the first frequency point and the other frequency points reaches a threshold.

4. The method according to claim 3, characterized in that Determining a plurality of the second frequency points from the other frequency points includes one of the following: Determine all of the other frequency points as the second frequency point; Determine the absolute value of the frequency difference between each frequency point in the other frequency points and the first frequency point; sort the other frequency points in descending order of absolute value; and determine the first first number of frequency points as the second frequency point.

5. The method according to claim 2, characterized in that: In the case where there are multiple second frequency points, determining a target pseudorange multipath deviation of the satellite antenna transmitting a signal at the first frequency point based on a first distance correction amount of a phase center of the satellite antenna transmitting a signal at the first frequency point and a second distance correction amount of a phase center of the satellite antenna transmitting a signal at the second frequency point includes: For each of the second frequency points, the following operations are performed to obtain a plurality of first pseudo-range multipath deviations: based on a first distance correction amount of a phase center of the satellite antenna that transmits signals at the first frequency point and a second distance correction amount of a phase center of the satellite antenna that transmits signals at the second frequency point, a first pseudo-range multipath deviation of a signal transmitted by the satellite antenna at the first frequency point is determined; The target pseudorange multipath deviation is determined based on a plurality of the first pseudorange multipath deviations.

6. The method according to claim 5, characterized in that Determining the target pseudorange multipath deviation based on the plurality of the first pseudorange multipath deviations comprises: An average value of the plurality of first pseudorange multipath deviations is determined as the target pseudorange multipath deviation.

7. The method according to claim 1, characterized in that Based on the following formula at the first frequency A first distance correction value of the phase center of the satellite antenna on which the signal is transmitted And at the second frequency A second distance correction value for the phase center of the satellite antenna on which the signal is transmitted , determine the target pseudorange multipath deviation of the satellite antenna transmitting the signal at the first frequency point : ； ； in, Frequency The pseudorange of the transmitted signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The carrier phase observation value of the uploaded signal, Frequency The frequency of the transmitted signal, Frequency The frequency of the transmitted signal, Frequency The wavelength of the transmitted signal, Frequency The wavelength of the transmitted signal, To include the frequency The deviation term is the constant part of the carrier phase ambiguity, hardware delay and multipath error of the transmitted signal.

8. A pseudorange multipath deviation determination device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following operations when executing the computer program: Determine a distance correction amount of a projection of a phase center of a satellite antenna transmitting signals at multiple frequencies by a first satellite in a satellite-fixed system and first information in an earth-centered earth-fixed system, wherein the first information includes: position information of the first satellite, sun position information, and receiver position information of the first satellite; Based on a first distance correction of the phase center of the satellite antenna transmitting signals at a first frequency point and a second distance correction of the phase center of the satellite antenna transmitting signals at a second frequency point, a target pseudorange multipath deviation of the satellite antenna transmitting signals at the first frequency point is determined, wherein the first frequency point is any frequency point included in the multiple frequency points, and the second frequency point is a frequency point included in the multiple frequency points except the first frequency point.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 7 when executed by a processor.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

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