Ionized layer delay value determination method and device and computer readable storage medium

Abstract

The invention provides an ionosphere delay value determination method and device and a computer readable storage medium, relates to the technical field of satellites, and can determine an ionosphere delay value of a satellite signal. The method is applied to the ionosphere delay value determination device, and comprises the following steps: acquiring signal frequencies of a plurality of satellite signals of a target positioning satellite; determining a signal pair according to the signal frequencies of the plurality of satellite signals; the signal pair comprises a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; and determining a reference ionosphere delay value corresponding to the reference frequency of the target positioning satellite at the target moment based on the signal parameter of the signal centering satellite signal and the Kalman filter.

Description

Technical Field

[0001] The present application relates to the field of satellite technology, and in particular to a method and device for determining an ionospheric delay value and a computer-readable storage medium. Background Art

[0002] The ionosphere is a region of the Earth's atmosphere, located approximately 50 km to 1000 km above the ground. When the satellite signal of the target positioning satellite is transmitted in the ionosphere, it will be ionized by atmospheric gas molecules, which will cause the satellite signal to have an ionospheric delay value, resulting in positioning errors. Therefore, how to determine the ionospheric delay value of the satellite signal has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a method, device and computer-readable storage medium for determining an ionospheric delay value, which can determine the ionospheric delay value of a satellite signal.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, a method for determining an ionospheric delay value is provided, which is applied to an ionospheric delay value determining device, and includes: acquiring signal frequencies of multiple satellite signals of a target positioning satellite; determining a signal pair according to the signal frequencies of the multiple satellite signals; the signal pair includes a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; and determining a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at a target time based on signal parameters of the satellite signals in the signal pair and a Kalman filter.

[0006] In combination with the first aspect, in certain embodiments of the first aspect, a signal pair is determined according to the signal frequencies of multiple satellite signals, including: for a target satellite signal among the multiple satellite signals, determining a first frequency difference and a second frequency difference of the target satellite signal; the first frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a third satellite signal, the second frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a fourth satellite signal, the signal frequency of the third satellite signal is the maximum value among the signal frequencies of the multiple satellite signals, the signal frequency of the fourth satellite signal is the minimum value among the signal frequencies of the multiple satellite signals, and the target satellite signal is any one satellite signal among the multiple satellite signals; taking the target satellite signal as the first satellite signal in the signal pair, and taking the satellite signal corresponding to the maximum value of the first frequency difference and the second frequency difference as the second satellite signal.

[0007] In combination with the first aspect, in some implementations of the first aspect, when there are multiple signal pairs, the first satellite signal of each signal pair in the multiple signal pairs is different.

[0008] In combination with the first aspect, in certain embodiments of the first aspect, the signal parameters include a first pseudorange, a second pseudorange, a first carrier phase, a second carrier phase, a third carrier phase, a fourth carrier phase, a first signal wavelength, a second signal wavelength, a first signal frequency, a second signal frequency and a reference frequency, the first pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a first satellite signal, the second pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a second satellite signal, the first carrier phase is an initial carrier phase of the first satellite signal, the second carrier phase is a carrier phase of the first satellite signal at a target time, the third carrier phase is an initial carrier phase of the second satellite signal, the fourth carrier phase is a carrier phase of the second satellite signal at a target time, the first signal wavelength is a signal wavelength of the first satellite signal, the second signal wavelength is a signal wavelength of the second satellite signal, the first signal frequency is a signal frequency of the first satellite signal, and the second signal frequency is a signal frequency of the second satellite signal.

[0009] In combination with the first aspect, in some implementations of the first aspect, determining a reference ionospheric delay value of a target positioning satellite at a reference frequency based on a signal parameter of a satellite signal in a signal pair and a Kalman filter includes: updating the Kalman filter based on relationship 1, relationship 2, relationship 3, and relationship 4 to obtain a reference ionospheric delay value of the target positioning satellite at the reference frequency:

[0010] Relation 1:

[0011] Relation 2:

[0012] Relation 3:

[0013] Relation 4: I ref =s 0 +s Δ

[0014] Among them, f j represents the frequency of the first signal in the jth signal pair, f k(j) represents the frequency of the second signal in the jth signal pair, f ref represents the reference frequency, ρ j represents the first pseudorange in the jth signal pair, ρ k(j) represents the second pseudorange in the jth signal pair, λ j represents the wavelength of the first signal in the jth signal pair, φ j represents the second carrier phase in the jth signal pair, λ k(j) represents the wavelength of the second signal in the jth signal pair, φ k(j) represents the fourth carrier phase in the j signal pair, φ0,j represents the first carrier phase in the jth signal pair, φ 0,k(j) represents the third carrier phase in the j-th signal pair, I ref Represents the reference ionospheric delay value.

[0015] In combination with the first aspect, in some embodiments of the first aspect, the method further includes: receiving a target instruction; the target instruction is used to determine a target ionospheric delay value corresponding to a target frequency of a target positioning satellite at a target time; and determining the target ionospheric delay value based on relation 5 and a reference ionospheric delay value:

[0016] Relation 5:

[0017] Where, f represents the target frequency, I f Indicates the target ionospheric delay value.

[0018] In a second aspect, an ionospheric delay value determination device is provided for implementing the ionospheric delay value determination method of the first aspect. The ionospheric delay value determination device includes a module, unit, or means corresponding to the above method, and the module, unit, or means can be implemented by hardware, software, or hardware executing corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the above functions.

[0019] In combination with the second aspect, in certain embodiments of the second aspect, the device includes: an acquisition module and a processing module; the acquisition module is used to acquire the signal frequencies of multiple satellite signals of the target positioning satellite; the processing module is used to determine a signal pair based on the signal frequencies of the multiple satellite signals; the signal pair includes a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; the processing module is also used to determine the reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time based on the signal parameters of the satellite signals in the signal pair and the Kalman filter.

[0020] In combination with the second aspect, in certain embodiments of the second aspect, a processing module is used to determine a signal pair based on signal frequencies of multiple satellite signals, including: determining a first frequency difference and a second frequency difference of the target satellite signal for a target satellite signal among the multiple satellite signals; the first frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a third satellite signal, the second frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a fourth satellite signal, the signal frequency of the third satellite signal is the maximum value among the signal frequencies of the multiple satellite signals, the signal frequency of the fourth satellite signal is the minimum value among the signal frequencies of the multiple satellite signals, and the target satellite signal is any one of the multiple satellite signals; taking the target satellite signal as the first satellite signal in the signal pair, and taking the satellite signal corresponding to the maximum value of the first frequency difference and the second frequency difference as the second satellite signal.

[0021] In combination with the second aspect, in some implementations of the second aspect, when there are multiple signal pairs, the first satellite signal of each signal pair in the multiple signal pairs is different.

[0022] In combination with the second aspect, in certain embodiments of the second aspect, the signal parameters include a first pseudorange, a second pseudorange, a first carrier phase, a second carrier phase, a third carrier phase, a fourth carrier phase, a first signal wavelength, a second signal wavelength, a first signal frequency, a second signal frequency and a reference frequency, the first pseudorange being a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a first satellite signal, the second pseudorange being a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a second satellite signal, the first carrier phase being an initial carrier phase of the first satellite signal, the second carrier phase being a carrier phase of the first satellite signal at a target time, the third carrier phase being an initial carrier phase of the second satellite signal, the fourth carrier phase being a carrier phase of the second satellite signal at a target time, the first signal wavelength being a signal wavelength of the first satellite signal, the second signal wavelength being a signal wavelength of the second satellite signal, the first signal frequency being a signal frequency of the first satellite signal, and the second signal frequency being a signal frequency of the second satellite signal.

[0023] In combination with the second aspect, in some embodiments of the second aspect, the processing module is used to determine the reference ionospheric delay value of the target positioning satellite at the reference frequency based on the signal parameters of the satellite signal in the signal pair and the Kalman filter, including: updating the Kalman filter based on relationship 1, relationship 2, relationship 3 and relationship 4 to obtain the reference ionospheric delay value of the target positioning satellite at the reference frequency:

[0024] Relation 1:

[0025] Relation 2:

[0026] Relation 3:

[0027] Relation 4: I ref =s 0 +s Δ

[0028] Among them, f j represents the frequency of the first signal in the jth signal pair, f k(j) represents the frequency of the second signal in the jth signal pair, f ref represents the reference frequency, ρ j represents the first pseudorange in the jth signal pair, ρ k(j) represents the second pseudorange in the jth signal pair, λ j represents the wavelength of the first signal in the jth signal pair, φ j represents the second carrier phase in the jth signal pair, λ k(j) represents the wavelength of the second signal in the jth signal pair, φ k(j) represents the fourth carrier phase in the j signal pair, φ 0,j represents the first carrier phase in the jth signal pair, φ 0,k(j) represents the third carrier phase in the j-th signal pair, I ref Represents the reference ionospheric delay value.

[0029] In combination with the second aspect, in some embodiments of the second aspect, the processing module is further used to: receive a target instruction; the target instruction is used to determine a target ionospheric delay value corresponding to a target frequency of a target positioning satellite at a target time; and determine the target ionospheric delay value based on relationship 5 and a reference ionospheric delay value:

[0030] Relation 5:

[0031] Where, f represents the target frequency, I f Indicates the target ionospheric delay value.

[0032] In a third aspect, an ionospheric delay value determination device is provided, comprising: at least one processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute instructions to implement the method provided in the first aspect and any possible implementation manner thereof.

[0033] In a fourth aspect, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an ionospheric delay value determination device, the ionospheric delay value determination device is enabled to perform the method provided in the first aspect and any possible implementation manner thereof.

[0034] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method provided in the first aspect and any possible implementation manner thereof.

[0035] Based on the scheme of the present application, the signal frequencies of multiple satellite signals of the target positioning satellite are obtained; a signal pair is determined according to the signal frequencies of the multiple satellite signals; and then, a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time is determined based on the signal parameters of the satellite signals in the signal pair and a Kalman filter. Since the signal pair includes a first satellite signal and a second satellite signal with different signal frequencies, the reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time can be determined by the delay value between satellite signals of different frequencies, combined with a Kalman filter that can effectively handle noise and uncertainty.

[0036] Among them, the technical effects brought about by any implementation of the second to fifth aspects can refer to the technical effects brought about by different implementations of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the architecture of an ionospheric delay value determination system provided in this application;

[0038] Figure 2 A schematic diagram of a flow chart of a method for determining an ionospheric delay value provided in the present application;

[0039] Figure 3 A schematic flow chart of another method for determining an ionospheric delay value provided by the present application;

[0040] Figure 4 A schematic diagram of the structure of an ionospheric delay value determination device provided by the present application;

[0041] Figure 5 A schematic diagram of the structure of another device for determining ionospheric delay value provided in the present application. DETAILED DESCRIPTION

[0042] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0043] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0044] Meanwhile, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0045] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0046] It can be understood that in the present application, "when", "if" and "if" all mean that corresponding processing will be carried out under certain objective circumstances, but do not limit the time, nor do they require judgment actions when implementing them, nor do they mean the existence of other limitations.

[0047] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0048] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments in this application, and the various implementation methods in each embodiment, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The following implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0049] The ionosphere is a region of the Earth's atmosphere, located approximately 50 km to 1000 km above the ground. When the satellite signal of the target positioning satellite is transmitted in the ionosphere, it will be ionized by atmospheric gas molecules, which will cause the satellite signal to have an ionospheric delay value, resulting in positioning errors. Therefore, how to determine the ionospheric delay value of the satellite signal has become an urgent problem to be solved.

[0050] To solve the above problems, the present application provides an ionospheric delay value determination method, which is applied to an ionospheric delay value determination device, and the method includes: acquiring signal frequencies of multiple satellite signals of a target positioning satellite; determining a signal pair according to the signal frequencies of the multiple satellite signals; the signal pair includes a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; and determining a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at a target time based on signal parameters of the satellite signals in the signal pair and a Kalman filter.

[0051] Based on this scheme, the signal frequencies of multiple satellite signals of the target positioning satellite are obtained; a signal pair is determined according to the signal frequencies of the multiple satellite signals; and then, a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time is determined based on the signal parameters of the satellite signals in the signal pair and a Kalman filter. Since the signal pair includes a first satellite signal and a second satellite signal with different signal frequencies, the reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time can be determined through the delay value between satellite signals of different frequencies, combined with a Kalman filter that can effectively handle noise and uncertainty.

[0052] Figure 1 This is a schematic diagram of the architecture of an ionospheric delay value determination system provided by the present application. The technical solution of the embodiment of the present application can be applied to Figure 1 The ionospheric delay value determination system shown is as follows: Figure 1 As shown, the ionospheric delay value determination system 10 includes an ionospheric delay value determination device 11 and an electronic device 12.

[0053] Among them, the ionospheric delay value determination device 11 is directly or indirectly connected to the electronic device 12. In this connection relationship, a wired connection or a wireless connection can be adopted, which is not limited in the embodiment of the present application.

[0054] Data exchange can be performed between the ionospheric delay value determining device 11 and the electronic device 12.

[0055] The ionospheric delay value determining device 11 may be a receiver or a device inside the receiver, and this application does not impose any specific limitation on this.

[0056] It should be noted that the ionospheric delay value determination device 11 and the electronic device 12 can be independent devices or integrated into the same device, and this application does not make any specific limitations on this.

[0057] When the ionospheric delay value determining device 11 and the electronic device 12 are integrated into the same device, the communication mode between the ionospheric delay value determining device 11 and the electronic device 12 is the communication between the internal modules of the device. In this case, the communication process between the two is the same as "the communication process between the two when the ionospheric delay value determining device 11 and the electronic device 12 are independent of each other".

[0058] In the following embodiments provided in the present application, the present application is explained by taking the ionospheric delay value determination device 11 and the electronic device 12 as being independently configured.

[0059] In practical applications, the ionospheric delay value determination method provided in the embodiment of the present application can be applied to the ionospheric delay value determination device 11, and can also be applied to the device included in the ionospheric delay value determination device 11.

[0060] In the following, in conjunction with the accompanying drawings, the ionospheric delay value determination method provided in the embodiment of the present application is described by taking the ionospheric delay value determination method applied to the ionospheric delay value determination device 11 as an example.

[0061] Figure 2 A flow chart of a method for determining an ionospheric delay value provided in this application is shown in FIG. Figure 2 As shown, the method comprises the following steps:

[0062] S201. An ionospheric delay value determination device obtains signal frequencies of multiple satellite signals of a target positioning satellite.

[0063] It should be noted that the signal frequencies of the multiple satellite signals are different from each other.

[0064] The target positioning satellite may be any positioning satellite in any satellite positioning system, that is, a plurality of satellite signals are transmitted by one positioning satellite.

[0065] As a possible implementation, combining Figure 1 The ionospheric delay value determining device receives a message from an electronic device, the message including the signal frequencies of multiple satellite signals of a target positioning satellite, and the ionospheric delay value determining device obtains the signal frequencies of multiple satellite signals of the target positioning satellite from the message.

[0066] S202. The ionospheric delay value determining device determines a signal pair according to the signal frequencies of a plurality of satellite signals.

[0067] The signal pair includes a first satellite signal and a second satellite signal, and a signal frequency of the first satellite signal is different from a signal frequency of the second satellite signal.

[0068] It should be noted that the number of signal pairs may be 1 or more. For example, taking the number of multiple satellite signals as 5 as an example, the number of signal pairs may be 1, 2, 3, 4, or 5, and this application does not impose any specific limitation on this.

[0069] In the case where there are multiple signal pairs, the first satellite signal of each of the multiple signal pairs is different. The second satellite signal of each of the multiple signal pairs can be the same or different.

[0070] The greater the number of signal pairs, the more accurate the determined reference ionospheric delay value.

[0071] A signal pair may be represented by (j, k(j)), where j represents the first satellite signal in the j-th signal pair, and k(j) represents the second satellite signal in the j-th signal pair.

[0072] As a possible implementation manner, the ionospheric delay value determination device targets any one satellite signal among multiple satellite signals, which is a target satellite signal, and uses the target satellite signal as the first satellite signal in the signal pair, and uses any one satellite signal among the multiple satellites except the target satellite signal as the second satellite signal.

[0073] As another possible implementation manner, the ionospheric delay value determining device determines the first frequency difference and the second frequency difference of the target satellite signal among multiple satellite signals; takes the target satellite signal as the first satellite signal in the signal pair, and takes the satellite signal corresponding to the maximum value of the first frequency difference and the second frequency difference as the second satellite signal.

[0074] Among them, the first frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of the third satellite signal, the second frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of the fourth satellite signal, the signal frequency of the third satellite signal is the maximum value among the signal frequencies of multiple satellite signals, the signal frequency of the fourth satellite signal is the minimum value among the signal frequencies of multiple satellite signals, and the target satellite signal is any one of the multiple satellite signals.

[0075] As an example, the ionospheric delay value determining device randomly selects a satellite signal from multiple satellite signals, the satellite signal is a target satellite signal, and uses the target satellite signal as the first satellite signal in the first signal pair.

[0076] The ionospheric delay value determining device determines the absolute value of the difference between the satellite signal and a third satellite signal having the largest signal frequency among multiple satellite signals to obtain a first frequency difference of the target satellite signal, and determines the absolute value of the difference between the satellite signal and a fourth satellite signal having the smallest signal frequency among multiple satellite signals to obtain a second frequency difference of the target satellite signal.

[0077] The ionospheric delay value determining device compares the first frequency difference and the second frequency difference of the target satellite signal. If the first frequency difference is greater than the second frequency difference, the third satellite signal is used as the second satellite signal in the first signal pair; if the first frequency difference is less than the second frequency difference, the fourth satellite signal is used as the second satellite signal in the first signal pair; if the first frequency difference is equal to the second frequency difference, any one of the third satellite signal and the fourth satellite signal is used as the second satellite signal in the first signal pair.

[0078] If there are multiple signal pairs, the ionospheric delay value determination device randomly selects a satellite signal from the multiple satellite signals except the first satellite signal of the first signal pair, and the satellite signal is the target satellite signal, and the target satellite signal is used as the first satellite signal in the second signal pair.

[0079] The ionospheric delay value determining device determines the absolute value of the difference between the satellite signal and a third satellite signal having the largest signal frequency among multiple satellite signals to obtain a first frequency difference of the target satellite signal, and determines the absolute value of the difference between the satellite signal and a fourth satellite signal having the smallest signal frequency among multiple satellite signals to obtain a second frequency difference of the target satellite signal.

[0080] The ionospheric delay value determining device compares the first frequency difference and the second frequency difference of the target satellite signal. If the first frequency difference is greater than the second frequency difference, the third satellite signal is used as the second satellite signal in the second signal pair; if the first frequency difference is less than the second frequency difference, the fourth satellite signal is used as the second satellite signal in the second signal pair; if the first frequency difference is equal to the second frequency difference, any one of the third satellite signal and the fourth satellite signal is used as the second satellite signal in the second signal pair.

[0081] The ionospheric delay value determination device randomly selects a satellite signal from multiple satellite signals except the first satellite signal of the first signal pair and the first satellite signal of the second signal pair, and the satellite signal is the target satellite signal, and the target satellite signal is used as the first satellite signal in the third signal pair.

[0082] The ionospheric delay value determining device determines the absolute value of the difference between the satellite signal and a third satellite signal having the largest signal frequency among multiple satellite signals to obtain a first frequency difference of the target satellite signal, and determines the absolute value of the difference between the satellite signal and a fourth satellite signal having the smallest signal frequency among multiple satellite signals to obtain a second frequency difference of the target satellite signal.

[0083] The ionospheric delay value determining device compares the first frequency difference and the second frequency difference of the target satellite signal. If the first frequency difference is greater than the second frequency difference, the third satellite signal is used as the second satellite signal in the third signal pair; if the first frequency difference is less than the second frequency difference, the fourth satellite signal is used as the second satellite signal in the third signal pair; if the first frequency difference is equal to the second frequency difference, any one of the third satellite signal and the fourth satellite signal is used as the second satellite signal in the third signal pair.

[0084] By analogy, the ionospheric delay value determination device obtains multiple signal pairs.

[0085] In this way, by determining the first frequency difference and the second frequency difference of the target satellite signal, the target satellite signal is then used as the first satellite signal in the signal pair, and the satellite signal corresponding to the maximum value of the first frequency difference and the second frequency difference is used as the second satellite signal. Since the first frequency difference is the difference between the signal frequency of the target satellite signal and the signal frequency of the third satellite signal, and the second frequency difference is the difference between the signal frequency of the target satellite signal and the signal frequency of the fourth satellite signal, the signal frequency of the third satellite signal is the maximum value among the signal frequencies of the plurality of satellite signals, and the signal frequency of the fourth satellite signal is the minimum value among the signal frequencies of the plurality of satellite signals, increasing the frequency difference between the two satellite signals in the signal pair can improve the distinction between the two satellite signals, thereby improving the accuracy of determining the reference ionospheric delay value.

[0086] S203, the ionospheric delay value determining device determines a reference ionospheric delay value corresponding to a reference frequency of a target positioning satellite at a target time based on signal parameters of the satellite signal in the signal pair and a Kalman filter.

[0087] It should be noted that the signal parameters include a first pseudorange, a second pseudorange, a first carrier phase, a second carrier phase, a third carrier phase, a fourth carrier phase, a first signal wavelength, a second signal wavelength, a first signal frequency, a second signal frequency and a reference frequency. The first pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determining device determined based on a first satellite signal, and the second pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determining device determined based on a second satellite signal. The first carrier phase is an initial carrier phase of the first satellite signal, the second carrier phase is a carrier phase of the first satellite signal at a target time, the third carrier phase is an initial carrier phase of the second satellite signal, and the fourth carrier phase is a carrier phase of the second satellite signal at a target time. The first signal wavelength is a signal wavelength of the first satellite signal, the second signal wavelength is a signal wavelength of the second satellite signal, the first signal frequency is a signal frequency of the first satellite signal, and the second signal frequency is a signal frequency of the second satellite signal.

[0088] The reference frequency may be L1 frequency, L2 frequency or L5 frequency, and this application does not impose any specific limitation on this.

[0089] As a possible implementation manner, the ionospheric delay value determination device updates the Kalman filter based on relationship 1, relationship 2, relationship 3 and relationship 4 to obtain a reference ionospheric delay value of the target positioning satellite at a reference frequency.

[0090] Relation 1:

[0091] Relation 2:

[0092] Relation 3:

[0093] Relation 4: I ref =s 0 +s Δ

[0094] Among them, f j represents the frequency of the first signal in the jth signal pair, f k(j) represents the frequency of the second signal in the jth signal pair, f ref represents the reference frequency, ρ j represents the first pseudorange in the jth signal pair, ρ k(j) represents the second pseudorange in the jth signal pair, λ j represents the wavelength of the first signal in the jth signal pair, φj represents the second carrier phase in the jth signal pair, λ k(j) represents the wavelength of the second signal in the jth signal pair, φ k(j) represents the fourth carrier phase in the j signal pair, φ 0,j represents the first carrier phase in the jth signal pair, φ 0,k(j) represents the third carrier phase in the j-th signal pair, I ref Represents the reference ionospheric delay value.

[0095] When the number of signal pairs is 1, the ionospheric delay value determination device brings the values ​​of the above-mentioned signal parameters of the satellite signal in one signal pair into relations 1, 2, 3 and 4 to update the Kalman filter, and obtains the reference ionospheric delay value of the target positioning satellite at the reference frequency output by the Kalman filter.

[0096] When there are multiple signal pairs, the ionospheric delay value determination device respectively brings the values ​​of the above-mentioned signal parameters of the satellite signals in the multiple signal pairs into relationship 1, relationship 2, relationship 3 and relationship 4 to update the Kalman filter, and obtains the output reference ionospheric delay value of the target positioning satellite at the reference frequency.

[0097] It should be noted that the specific description of updating the Kalman filter can refer to the existing solutions, and this application will not explain it again.

[0098] Based on this scheme, the signal frequencies of multiple satellite signals of the target positioning satellite are obtained; a signal pair is determined according to the signal frequencies of the multiple satellite signals; and then, a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time is determined based on the signal parameters of the satellite signals in the signal pair and a Kalman filter. Since the signal pair includes a first satellite signal and a second satellite signal with different signal frequencies, the reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time can be determined through the delay value between satellite signals of different frequencies, combined with a Kalman filter that can effectively handle noise and uncertainty.

[0099] The above is a general description of the method for determining the ionospheric delay value provided in the present application. The method for determining the ionospheric delay value provided in the present application will be further described below in conjunction with the accompanying drawings.

[0100] In one design, Figure 3 A flow chart of another method for determining an ionospheric delay value provided by the present application is shown as follows: Figure 3 As shown, after S203, the method for determining the ionospheric delay value provided by the present application may further include the following steps:

[0101] S301. An ionospheric delay value determination device receives a target instruction.

[0102] The target instruction is used to determine the target ionospheric delay value corresponding to the target frequency of the target positioning satellite at the target time.

[0103] As a possible implementation, combining Figure 1 The electronic device sends a target instruction to the ionospheric delay value determining device. Correspondingly, the ionospheric delay value determining device receives the target instruction of the electronic device.

[0104] S302, the ionospheric delay value determining device determines the target ionospheric delay value based on relation 5 and the reference ionospheric delay value:

[0105] Relation 5:

[0106] Where, f represents the target frequency, I f Indicates the target ionospheric delay value.

[0107] As a possible implementation manner, the ionospheric delay value determining device brings the target frequency, the reference ionospheric delay value and the reference frequency into relation 5 to obtain the target ionospheric delay value.

[0108] Based on this solution, since the ionospheric delay value is inversely proportional to the square of the frequency, the target ionospheric delay value corresponding to the target frequency can be determined based on the reference ionospheric delay value through relationship 5. The above mainly introduces the solution provided in the embodiment of the present application from the perspective of the problem base station determination method executed by the problem base station determination device.

[0109] In order to achieve the above functions, the ionospheric delay value determination device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0110] The embodiment of the present application can divide the functional modules of the ionospheric delay value determination device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0111] In the case of functional module division, Figure 4 FIG. 1 shows a schematic diagram of the structure of a device for determining an ionospheric delay value. Figure 4 As shown, the ionospheric delay value determination device 40 includes an acquisition module 401 and a processing module 402.

[0112] In some embodiments, the ionospheric delay value determining device 40 may further include a storage module ( Figure 4 ), for storing program instructions and data.

[0113] Among them, the acquisition module 401 is used to acquire the signal frequencies of multiple satellite signals of the target positioning satellite; the processing module 402 is used to determine a signal pair according to the signal frequencies of the multiple satellite signals; the signal pair includes a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; the processing module 402 is also used to determine the reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time based on the signal parameters of the satellite signals in the signal pair and the Kalman filter.

[0114] Optionally, the processing module 402 is used to determine a signal pair based on the signal frequencies of multiple satellite signals, including: determining a first frequency difference and a second frequency difference of the target satellite signal for a target satellite signal among the multiple satellite signals; the first frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a third satellite signal, the second frequency difference is the absolute value of the difference between the signal frequency of the target satellite signal and the signal frequency of a fourth satellite signal, the signal frequency of the third satellite signal is the maximum value among the signal frequencies of the multiple satellite signals, the signal frequency of the fourth satellite signal is the minimum value among the signal frequencies of the multiple satellite signals, and the target satellite signal is any one of the multiple satellite signals; taking the target satellite signal as the first satellite signal in the signal pair, and taking the satellite signal corresponding to the maximum value of the first frequency difference and the second frequency difference as the second satellite signal.

[0115] Optionally, when there are multiple signal pairs, the first satellite signal of each signal pair in the multiple signal pairs is different.

[0116] Optionally, the signal parameters include a first pseudorange, a second pseudorange, a first carrier phase, a second carrier phase, a third carrier phase, a fourth carrier phase, a first signal wavelength, a second signal wavelength, a first signal frequency, a second signal frequency and a reference frequency. The first pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a first satellite signal. The second pseudorange is a pseudorange between a target positioning satellite and an ionospheric delay value determination device determined based on a second satellite signal. The first carrier phase is an initial carrier phase of the first satellite signal. The second carrier phase is a carrier phase of the first satellite signal at a target time. The third carrier phase is an initial carrier phase of the second satellite signal. The fourth carrier phase is a carrier phase of the second satellite signal at a target time. The first signal wavelength is a signal wavelength of the first satellite signal. The second signal wavelength is a signal wavelength of the second satellite signal. The first signal frequency is a signal frequency of the first satellite signal. The second signal frequency is a signal frequency of the second satellite signal.

[0117] Optionally, the processing module 402 is used to determine the reference ionospheric delay value of the target positioning satellite at the reference frequency based on the signal parameters of the satellite signal in the signal pair and the Kalman filter, including: updating the Kalman filter based on relationship 1, relationship 2, relationship 3 and relationship 4 to obtain the reference ionospheric delay value of the target positioning satellite at the reference frequency:

[0118] Relation 1:

[0119] Relation 2:

[0120] Relation 3:

[0121] Relation 4: I ref =s 0 +s Δ

[0122] Among them, f j represents the frequency of the first signal in the jth signal pair, f k(j) represents the frequency of the second signal in the jth signal pair, f ref represents the reference frequency, ρ j represents the first pseudorange in the jth signal pair, ρ k(j) represents the second pseudorange in the jth signal pair, λ j represents the wavelength of the first signal in the jth signal pair, φ j represents the second carrier phase in the jth signal pair, λ k(j) represents the wavelength of the second signal in the jth signal pair, φ k(j) represents the fourth carrier phase in the j signal pair, φ 0,j represents the first carrier phase in the jth signal pair, φ 0,k(j) represents the third carrier phase in the j-th signal pair, I ref Represents the reference ionospheric delay value.

[0123] Optionally, the processing module 402 is further used to: receive a target instruction; the target instruction is used to determine a target ionospheric delay value corresponding to a target frequency of a target positioning satellite at a target time; and determine the target ionospheric delay value based on relation 5 and a reference ionospheric delay value:

[0124] Relation 5:

[0125] Where, f represents the target frequency, I f Indicates the target ionospheric delay value.

[0126] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0127] When the functions of the above functional modules are implemented in the form of hardware, Figure 5 FIG. 2 shows a schematic diagram of the structure of another device for determining an ionospheric delay value. Figure 5 As shown, the ionospheric delay value determination device 50 includes a processor 501, a memory 502 and a bus 503. The processor 501 and the memory 502 may be connected via the bus 503.

[0128] The processor 501 is the control center of the ionospheric delay value determination device 50, and can be a processor or a general term for multiple processing elements. For example, the processor 501 can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0129] As an embodiment, the processor 501 may include one or more CPUs, such as Figure 5 CPU 0 and CPU 1 are shown in .

[0130] The memory 502 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0131] As a possible implementation, the memory 502 may exist independently of the processor 501, and the memory 502 may be connected to the processor 501 via a bus 503, and is used to store instructions or program codes. When the processor 501 calls and executes the instructions or program codes stored in the memory 502, the method for determining the ionospheric delay value provided in the embodiment of the present application can be implemented.

[0132] In another possible implementation, the memory 502 may also be integrated with the processor 501 .

[0133] The bus 503 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0134] It should be pointed out that Figure 5 The structure shown does not constitute a limitation on the ionospheric delay value determining device 50. Figure 5 In addition to the components shown, the ionospheric delay value determination device 50 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0135] As an example, combining Figure 4 The functions implemented by the acquisition module 401 and the processing module 402 in the ionospheric delay value determination device 40 are similar to those Figure 5 The function of processor 501 in is the same.

[0136] Optional, such as Figure 5 As shown, the ionospheric delay value determination device 50 provided in the embodiment of the present application may further include a communication interface 504.

[0137] The communication interface 504 is used to connect with other devices through a communication network. The communication network may be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 504 may include a receiving unit for receiving data and a sending unit for sending data.

[0138] In a possible implementation, in the ionospheric delay value determination device 50 provided in the embodiment of the present application, the communication interface 504 may also be integrated in the processor 501, and the embodiment of the present application does not specifically limit this.

[0139] As a possible product form, the ionospheric delay value determination device of the embodiment of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout the present application.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0141] An embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the computer executes each step in the method flow shown in the above method embodiment.

[0142] An embodiment of the present application provides a computer program product including instructions. When the instructions are executed on a computer, the computer is caused to execute each step in the method flow shown in the above method embodiment.

[0143] An embodiment of the present application provides a chip system, including: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the chip system executes each step in the method flow shown in the above method embodiment.

[0144] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage media in a suitable combination of the above, or numerical values ​​in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in a specific-purpose ASIC. In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0145] Since the ionospheric delay value determination device, computer-readable storage medium, and computer program product provided in this embodiment can be applied to the ionospheric delay value determination method provided in this embodiment, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of this application will not be repeated here.

[0146] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0147] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for determining an ionospheric delay value, characterized in that: The method is applied to an ionospheric delay value determination device, and the method comprises: Acquire signal frequencies of multiple satellite signals of a target positioning satellite; Determine a signal pair according to the signal frequencies of the plurality of satellite signals; the signal pair comprises a first satellite signal and a second satellite signal, the signal frequency of the first satellite signal and the signal frequency of the second satellite signal being different; Based on the signal parameters of the satellite signal in the signal pair and the Kalman filter, a reference ionospheric delay value corresponding to the reference frequency of the target positioning satellite at the target time is determined.

2. The method according to claim 1, characterized in that The step of determining a signal pair according to the signal frequencies of the plurality of satellite signals comprises: For a target satellite signal among the multiple satellite signals, determine a first frequency difference and a second frequency difference of the target satellite signal; the first frequency difference is an absolute value of a difference between a signal frequency of the target satellite signal and a signal frequency of a third satellite signal, the second frequency difference is an absolute value of a difference between a signal frequency of the target satellite signal and a signal frequency of a fourth satellite signal, the signal frequency of the third satellite signal is a maximum value among the signal frequencies of the multiple satellite signals, the signal frequency of the fourth satellite signal is a minimum value among the signal frequencies of the multiple satellite signals, and the target satellite signal is any one satellite signal among the multiple satellite signals; The target satellite signal is used as the first satellite signal in the signal pair, and the satellite signal corresponding to the maximum value between the first frequency difference and the second frequency difference is used as the second satellite signal.

3. The method according to claim 1, characterized in that In the case that there are multiple signal pairs, the first satellite signal of each of the multiple signal pairs is different.

4. The method according to claim 1, characterized in that The signal parameters include a first pseudorange, a second pseudorange, a first carrier phase, a second carrier phase, a third carrier phase, a fourth carrier phase, a first signal wavelength, a second signal wavelength, a first signal frequency, a second signal frequency and a reference frequency. The first pseudorange is a pseudorange between a target positioning satellite determined based on the first satellite signal and the ionospheric delay value determining device. The second pseudorange is a pseudorange between a target positioning satellite determined based on the second satellite signal and the ionospheric delay value determining device. The first carrier phase is an initial carrier phase of the first satellite signal. The second carrier phase is a carrier phase of the first satellite signal at the target time. The third carrier phase is an initial carrier phase of the second satellite signal. The fourth carrier phase is a carrier phase of the second satellite signal at the target time. The first signal wavelength is a signal wavelength of the first satellite signal. The second signal wavelength is a signal wavelength of the second satellite signal. The first signal frequency is a signal frequency of the first satellite signal. The second signal frequency is a signal frequency of the second satellite signal.

5. The method according to claim 4, characterized in that The determining, based on the signal parameters of the satellite signal in the signal pair and the Kalman filter, a reference ionospheric delay value of the target positioning satellite at a reference frequency comprises: The Kalman filter is updated based on relations 1, 2, 3 and 4 to obtain a reference ionospheric delay value of the target positioning satellite at a reference frequency: Relation 1: Relation 2: Relation 3: Relation 4: I ref =s0+s Δ Among them, f j represents the frequency of the first signal in the j-th signal pair, f k(j) represents the frequency of the second signal in the j-th signal pair, f ref represents the reference frequency, ρ j represents the first pseudorange in the j-th signal pair, ρ k(j) represents the second pseudorange in the j-th signal pair, λ j represents the wavelength of the first signal in the j-th signal pair, φ j represents the second carrier phase in the j-th signal pair, λ k(j) represents the wavelength of the second signal in the j-th signal pair, φ k(j) represents the fourth carrier phase in the j-th signal pair, φ0,j represents the first carrier phase in the j-th signal pair, φ0,k ( j ) represents the third carrier phase in the j-th signal pair, I ref represents the reference ionospheric delay value.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Receive a target instruction; the target instruction is used to determine a target ionospheric delay value corresponding to a target frequency of the target positioning satellite at a target time; Determine the target ionospheric delay value based on relation 5 and the reference ionospheric delay value: Relation 5: Wherein, f represents the target frequency, I f represents the target ionospheric delay value.

7. An ionospheric delay value determination device, characterized in that: The device comprises: an acquisition module and a processing module; The acquisition module is used to acquire the signal frequencies of multiple satellite signals of the target positioning satellite; The processing module is used to determine a signal pair according to the signal frequencies of the multiple satellite signals; the signal pair includes a first satellite signal and a second satellite signal, and the signal frequency of the first satellite signal is different from the signal frequency of the second satellite signal; The processing module is also used to determine a reference ionospheric delay value corresponding to a reference frequency of the target positioning satellite at a target time based on signal parameters of the satellite signal in the signal pair and a Kalman filter.

8. The device according to claim 7, characterized in that The processing module is used to determine a signal pair according to the signal frequencies of the plurality of satellite signals, including: For a target satellite signal among the multiple satellite signals, determine a first frequency difference and a second frequency difference of the target satellite signal; the first frequency difference is an absolute value of a difference between a signal frequency of the target satellite signal and a signal frequency of a third satellite signal, the second frequency difference is an absolute value of a difference between a signal frequency of the target satellite signal and a signal frequency of a fourth satellite signal, the signal frequency of the third satellite signal is a maximum value among the signal frequencies of the multiple satellite signals, the signal frequency of the fourth satellite signal is a minimum value among the signal frequencies of the multiple satellite signals, and the target satellite signal is any one satellite signal among the multiple satellite signals; The target satellite signal is used as the first satellite signal in the signal pair, and the satellite signal corresponding to the maximum value between the first frequency difference and the second frequency difference is used as the second satellite signal.

9. An ionospheric delay value determination device, characterized in that: The device for determining an ionospheric delay value comprises: a processor, wherein the processor is coupled to a memory, wherein the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the device executes the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instructions are executed, the computer is caused to perform the method according to any one of claims 1 to 6.

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