Regional ionosphere modeling method and device and storage medium

Abstract

The invention provides a regional ionosphere modeling method and device, electronic equipment and a storage medium, and belongs to the technical field of satellite navigation positioning, and the method comprises the steps: obtaining the coordinates of a plurality of reference stations in a region, matching the coordinates with a preset threshold value, obtaining the coordinates of reference points, and obtaining the regional ionosphere based on the coordinates of the plurality of reference stations in the region and the coordinates of the reference points. Obtaining a longitude difference value and a latitude difference value between the regional reference station and the reference point, obtaining the coordinate of the target satellite, and obtaining the difference value of the elevation angles of the plurality of reference stations and the reference point observation target satellite based on the coordinate of the target satellite and the coordinates of the plurality of reference stations in the region; and constructing a coefficient matrix based on the difference value of the elevation angle and the longitude difference value and the latitude difference value between the regional reference station and the reference point, and constructing a regional ionosphere model based on the coefficient matrix and the obtained regional ionosphere model coefficient. Due to the fact that the influences of the horizontal gradient and the vertical delay are considered at the same time in the modeling process, the model fitting precision is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation and positioning, and particularly to a method, device, electronic device and storage medium for regional ionospheric modeling. Background Art

[0002] In recent years, the developed Precise Point Positioning-Real-Time Kinematic (PPP-RTK) technology has achieved high-precision and fast positioning of PPP-RTK by providing satellite orbits, clock errors, phase biases, and atmospheric delay corrections. However, due to the strong spatio-temporal characteristics of the ionosphere, the ionospheric activities are different at different latitudes and longitudes, and high-precision ionospheric modeling has become a key factor affecting the high-precision positioning of PPP-RTK.

[0003] Currently, the slant ionospheric delay (SID) applied to PPP-RTK is mainly obtained in two ways: One is to construct a vertical total electron content (VTEC) spatial model and use a mapping function to map the VTEC in the vertical direction to the slant direction, which improves the positioning performance of PPP-RTK to a certain extent. The other is to construct a single-satellite ionospheric slant delay model using a regional reference network, mainly including the interpolation method and the grid polynomial method. The interpolation method interpolates the ionospheric correction of the reference station to the user to generate ionospheric enhancement information with centimeter-level accuracy. The grid polynomial model fits the SID using a polynomial and compensates the residuals of the SID based on adjacent grid points to improve the accuracy of the ionospheric correction.

[0004] Regarding the first way of constructing the vertical total electron content (VTEC) spatial model, there are the following problems: Affected by the accuracy of the VTEC model and the mapping error, the low SID accuracy makes it difficult to quickly fix the PPP ambiguity. Regarding the interpolation method in the second way, there are the following problems: It requires all reference stations to send correction data and needs two-way communication, resulting in a large amount of data transmission, high communication costs, and the risk of privacy leakage. Regarding the grid polynomial method in the second way, there are the following problems: Currently, although the traditional grid polynomial method overcomes the disadvantages of the above two ways, it only considers the influence of the horizontal gradient during ionospheric modeling and does not take into account the change of the ionosphere in the vertical direction related to the elevation angle, resulting in a reduction in the fitting accuracy. Summary of the Invention

[0005] In view of this, it is necessary to provide a regional ionosphere modeling method, device, electronic device and storage medium to solve the technical problem of low simulation fitting accuracy in the existing ionosphere modeling technology.

[0006] To solve the above technical problem, in a first aspect, the present invention provides a regional ionosphere modeling method, including: Obtain the coordinates of multiple reference stations in the region, match the coordinates with a preset threshold to obtain the coordinates of the reference points, and based on the coordinates of multiple reference stations in the region and the coordinates of the reference points, obtain the longitude difference and latitude difference between the regional reference stations and the reference points; Obtain the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region, obtain the difference in the elevation angles of the multiple reference stations and the reference points observing the target satellite; Construct a coefficient matrix based on the difference in elevation angles, the longitude difference and latitude difference between the regional reference stations and the reference points; Construct a regional ionosphere model based on the coefficient matrix and the obtained regional ionosphere model coefficients.

[0007] In a possible implementation manner, the regional ionosphere model is:

[0008]

[0009]

[0010] Wherein, and are: the coordinate difference between reference station r and reference station o, 、 、 、 and are respectively: the first coefficient of the polynomial expansion associated with the horizontal gradient, the second coefficient of the polynomial expansion associated with the horizontal gradient, the third coefficient of the polynomial expansion associated with the horizontal gradient, the fourth coefficient of the polynomial expansion associated with the horizontal gradient, and the fifth coefficient of the polynomial expansion associated with the horizontal gradient, 、 、 and are respectively: the first coefficient of the polynomial expansion associated with the ionospheric vertical delay, the second coefficient of the polynomial expansion associated with the ionospheric vertical delay, the third coefficient of the polynomial expansion associated with the ionospheric vertical delay, and the fourth coefficient of the polynomial expansion associated with the ionospheric vertical delay, is: the elevation angle of satellite s obtained by reference station r, is: the reference star obtained by the reference station r elevation angle, is: the elevation angle of satellite s obtained by the reference point o and is: the reference star obtained by the reference point o elevation angle.

[0011] In a possible implementation, obtaining the longitude difference and latitude difference between the regional reference station and the reference point based on the coordinates of multiple reference stations in the region and the coordinates of the reference point includes: Subtracting the coordinates of multiple reference stations in the region from the coordinates of the reference point to obtain the longitude difference and latitude difference between the regional reference station and the reference point.

[0012] In a possible implementation, obtaining the difference in the elevation angles of the target satellite observed by multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region includes: Based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region, obtaining the elevation angles of the target satellite observed by multiple reference stations, and based on the elevation angles of the target satellite observed by multiple reference stations and the elevation angle of the target satellite observed by the reference point, obtaining the difference in the elevation angles of the target satellite observed by multiple reference stations and the reference point.

[0013] In a possible implementation, obtaining the difference in the elevation angles of the target satellite observed by multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region includes: Subtracting the elevation angle of the target satellite observed by multiple reference stations from the elevation angle of the target satellite observed by the reference point to obtain the difference in the elevation angles of the target satellite observed by multiple reference stations and the reference point.

[0014] In a possible implementation, the obtained regional ionospheric model coefficients include: Obtaining the original observation data of the regional reference station receiver, based on the original observation data, obtaining the high-precision ionospheric slant delay correction number of the target satellite, and based on the high-precision ionospheric slant delay correction number of the target satellite, obtaining the regional ionospheric model coefficients; the observation data includes: the pseudorange and phase observation values of the regional reference station receiver.

[0015] In a possible implementation, obtaining the regional ionospheric model coefficients based on the high-precision ionospheric slant delay correction number of the target satellite includes: Forming an observation vector based on the high-precision ionospheric slant delay correction number of the target satellite, and based on the observation vector, obtaining the regional ionospheric model coefficients.

[0016] In a possible implementation, obtaining the regional ionospheric model coefficients based on the observation vector includes: An observation equation is constructed based on the observation vector, and the observation equation is solved based on the least squares method to obtain the coefficients of the regional ionospheric model.

[0017] In a second aspect, the present invention also provides a regional ionospheric modeling device, including: A first data acquisition unit, configured to acquire the coordinates of multiple reference stations in the region, match the coordinates with a preset threshold to obtain the coordinates of the reference points, and based on the coordinates of the multiple reference stations in the region and the coordinates of the reference points, obtain the longitude difference and latitude difference between the regional reference stations and the reference points; A second data acquisition unit, configured to acquire the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of the multiple reference stations in the region, obtain the difference in the elevation angles of the multiple reference stations and the reference points observing the target satellite; A coefficient matrix construction unit, configured to construct a coefficient matrix based on the difference in the elevation angles, the longitude difference and latitude difference between the regional reference stations and the reference points; A regional ionospheric model construction unit, configured to construct a regional ionospheric model based on the coefficient matrix and the obtained coefficients of the regional ionospheric model.

[0018] In a third aspect, the present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions, and when the programs or instructions are executed by a processor, the steps in the regional ionospheric modeling method described in any of the above implementation manners can be implemented.

[0019] The beneficial effects of the present invention are as follows: The regional ionospheric modeling method provided by the present invention first linearizes the change in the vertical direction of the ionosphere, calculates and obtains the difference in the elevation angles of multiple reference stations and reference points observing the target satellite, and introduces the difference in the elevation angles of multiple reference stations and reference points observing the target satellite into the traditional polynomial of the longitude difference between regional reference stations and the latitude difference between regional reference stations, thereby reducing the influence of the vertical component of the ionospheric slant delay on the fitting accuracy, and thus improving the fitting accuracy of regional ionospheric modeling. Further, since the present invention simultaneously considers the influence of the horizontal gradient and the vertical delay in the modeling process, compared with the traditional polynomial method that only considers the horizontal gradient, the modeling accuracy is significantly improved. The improvement of the modeling accuracy can effectively relieve the pressure of channel data transmission. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1Schematic flowchart of an embodiment of the regional ionosphere modeling method provided by the present invention; Figure 2 Schematic structural diagram of an embodiment of the regional ionosphere modeling device provided by the present invention. Detailed implementation manners

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0023] In the description of the embodiments of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example: A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone these three situations.

[0024] In the embodiments of the present invention, the descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Therefore, the technical features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0025] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0026] The present invention provides a regional ionosphere modeling method, device, electronic device, and storage medium, which will be described separately below.

[0027] Figure 1 Schematic flowchart of an embodiment of the regional ionosphere modeling method provided by the present invention, as Figure 1 shown, the regional ionosphere modeling method includes: S101. Obtain the coordinates of multiple reference stations in the region, match the coordinates with a preset threshold to obtain the coordinates of the reference points, and based on the coordinates of the multiple reference stations and the coordinates of the reference points in the region, obtain the longitude difference and latitude difference between the regional reference stations and the reference points.

[0028] It should be noted that the reference station at the center of the selected area or the reference station closest to the center of the area is used as the reference point for ionospheric polynomial modeling.

[0029] S102. Obtain the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of multiple reference stations in the area, obtain the differences in the elevation angles of the multiple reference stations and the reference point observing the target satellite.

[0030] It should be noted that the derivation process is as follows:

[0031] Among them, and are respectively the elevation angles of the satellite obtained by the measuring station and the reference satellite , and are respectively the elevation angles of the satellite to and the reference satellite obtained by the measuring station

[0032] Similarly, taking as the expansion point, perform Taylor expansion on the above formula. Considering its approximate accuracy and calculation efficiency, retain the second-order term:

[0033] Among them, and are the vertical ionospheric delays of the satellite and the reference satellite .

[0034]

[0035] Among them, is the th coefficient of the polynomial expansion, and are respectively the elevation angles of the satellite obtained by the measuring station and the reference satellite , and are the elevation angles of the satellite to and the reference satellite obtained by the measuring station and are respectively the differences in the vertical ionospheric delays of the satellite and the reference satellite .

[0036] Furthermore, the expression for the double-difference slant ionospheric delay (SID) is as follows:

[0037] where and are the coordinate differences between stations and station respectively, and and are the th coefficients of the polynomial expansion related to the horizontal gradient.

[0038] Furthermore, the SDBS SID of the reference station is:

[0039]

[0040] where represents the station-satellite double-difference SID, represents the SDBS SID obtained from the station nearest to the central region, and are the coordinate differences between stations and station respectively, is the station-satellite double-difference, , , and are the elevation angles of the satellite obtained by station and the reference satellite respectively, and are the elevation angles of the satellite to the satellite and the reference satellite respectively, is the SID at the station which is the nearest to the regional center and serves as the reference point, and represents the SDBS SID obtained from the station nearest to the central region, expressed by the polynomial coefficient .

[0041] S103. Construct a coefficient matrix based on the difference in elevation angles, the difference in longitude, and the difference in latitude between the regional reference station and the reference point.

[0042] It should be noted that the server constructs a coefficient matrix with the difference in altitude angle, the difference in longitude, and the difference in latitude between the regional reference station and the reference point as elements, constructs an observation equation with the SDBS SID on the reference station r as the observation value, estimates the polynomial coefficients using the least squares algorithm, and broadcasts them to the user.

[0043] It should be further noted that the differences in the longitude and latitude coordinates of the user station and the reference point and the altitude angle of the observed satellite are calculated, and the user's SDBS SID is fitted using the polynomial coefficients received by the user. Specifically, as shown in the following formula:

[0044] Where, are the SDBS SIDs fitted by the user side, , , are the polynomial coefficients broadcast by the server side, and and represent the latitude and longitude coordinates of the user.

[0045] It should be noted that the above formula can also be simplified to the first order according to the actual situation.

[0046]

[0047] Where, is the SDBS SID obtained from the station nearest to the central area, is the station-satellite double-difference SID, as shown below:

[0048] Where, and are the single-difference SIDs between stations and station , and can be decomposed into the influence of horizontal gradient and vertical delay.

[0049] Furthermore,

[0050] Where, ; and are the altitude angles of the satellite obtained by station and the reference satellite respectively, , are the distances from station to the satellite and the reference satellite The elevation angle, and for the station to obtain the satellite and the reference satellite of the vertical ionospheric delay, and for the station to obtain the satellite and the reference satellite of the vertical ionospheric delay.

[0051] Based on the above formula, it can be deduced that the station-satellite double difference SID is:

[0052] Furthermore,

[0053] wherein, is the influence of the vertical delay, is the influence of the horizontal gradient.

[0054] Taking the station as the reference point (latitude = , longitude = ), using the second-order Taylor expansion to linearly represent the distance as:

[0055] wherein, is the th coefficient of the Taylor formula expansion, and are the coordinate differences between the station and the station respectively.

[0056] For some small areas, the influence of the horizontal gradient can also be approximately represented by a first-order latitude and longitude polynomial:

[0057] wherein, and are the th coefficients associated with the horizontal gradient respectively.

[0058] In some embodiments of the present invention, obtaining the differences in the elevation angles of the target satellite observed by multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region includes: Based on the coordinates of the target satellite and the coordinates of multiple reference stations in the area, the elevation angles of the target satellite observed by the multiple reference stations are obtained. Based on the elevation angles of the target satellite observed by the multiple reference stations and the elevation angle of the target satellite observed by the reference point, the differences in the elevation angles of the target satellite observed by the multiple reference stations and the reference point are obtained.

[0059] In some embodiments of the present invention, the obtaining the differences in the elevation angles of the target satellite observed by the multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of the multiple reference stations in the area includes: Taking the difference between the elevation angles of the target satellite observed by the multiple reference stations and the elevation angle of the target satellite observed by the reference point to obtain the differences in the elevation angles of the target satellite observed by the multiple reference stations and the reference point.

[0060] S104. Construct a regional ionospheric model based on the coefficient matrix and the obtained regional ionospheric model coefficients.

[0061] It should be noted that: Precise Point Positioning (PPP) and Real-Time Kinematic (RTK) positioning technologies have become one of the main means of GNSS precise positioning due to their high positioning accuracy and simple operation. However, the convergence time of more than 30 minutes has become the main obstacle restricting the application of PPP and RTK positioning technologies. The present invention mainly realizes the construction of a single-satellite ionospheric slant delay model by using a regional reference network through the method of grid polynomials. The grid polynomial model uses polynomials to fit the inter-satellite single differences, and performs residual compensation on the inter-satellite single differences based on adjacent grid points to improve the accuracy of ionospheric correction. However, high-precision ionospheric correction depends on high-order polynomials and high-resolution grids, and the number of grid residual compensations depends on the amplitude of the residual ionospheric delay. Therefore, improving the polynomial modeling accuracy and reducing the ionospheric residual amplitude can reduce the broadcast volume of ionospheric compensation residuals to a certain extent and relieve the pressure of channel transmission. At present, traditional polynomial methods only consider the influence of horizontal gradients during ionospheric modeling and do not take into account the vertical ionospheric changes related to the elevation angle, resulting in a reduction in fitting accuracy.

[0062] In some embodiments of the present invention, the obtained regional ionospheric model coefficients include: Obtain the original observation data of the regional reference station receiver. Based on the original observation data, extract the high-precision ionospheric slant delay correction numbers of the target satellite observed by the reference station. Based on the high-precision ionospheric slant delay correction numbers of the target satellite, obtain the regional ionospheric model coefficients; the observation data includes: pseudorange and phase observations of the regional reference station receiver.

[0063] It should be noted that, first, the inter-satellite single difference is extracted by using the non-differential non-combination observation equation and based on the strategy of fixing part of the ambiguities. Second, appropriate reference satellites are selected and the inter-satellite single difference strategy is adopted to eliminate the differential code bias in the receiver segment, generate the inter-satellite single difference, and use it for ionospheric polynomial modeling. Specifically, as shown in the following equation:

[0064] Where, and represent the pseudorange and phase observations at frequency ( ), respectively, is the geometric distance from the satellite to the receiver, is the speed of light in vacuum, and are the receiver clock bias and satellite clock bias, respectively, is the wavelength at frequency , is the integer ambiguity, and are the pseudorange code biases of the receiver and satellite, respectively, and are the carrier phase hardware delays of the receiver and satellite, respectively, is the ionospheric coefficient at frequency (i = 1), is the first-order ionospheric delay, is the tropospheric mapping function, is the tropospheric delay, is the inter-system bias (ISB) between the satellite system and GPS, and are the sum of the noises of the unmodeled errors of the pseudorange and phase observations, respectively. Solid tides, ocean tides, phase center offset (PCO), phase center variation (PCV), and relativistic effects can all be accurately corrected through existing models.

[0065] It should be further understood that since the parameters in the original observation equation are correlated and the parameters cannot be directly estimated, the parameters are merged and absorbed before parameter estimation. The precise satellite clock offset products provided by the International GNSS Service (IGS) include the pseudorange hardware delays of the satellite-end non-ionospheric combination. Therefore, after the satellite clock offset correction, the receiver clock offset, ionospheric delay, and ambiguity will all absorb part of the pseudorange hardware delays. In addition, the phase hardware delay is strongly correlated with the integer ambiguity and will be directly absorbed by the ambiguity. Therefore, the re-parameterized dual-frequency non-differenced and non-combined equation can be expressed as:

[0066] where, is the ambiguity that absorbs the pseudorange and phase hardware delays, is the satellite clock offset that absorbs the satellite pseudorange hardware delay, is the receiver clock offset that absorbs the receiver pseudorange hardware delay.

[0067] It should be noted that the ionospheric slant delay is extracted from each reference station with fixed coordinates using the partial ambiguity fixing strategy and is used to construct the ionospheric polynomial model. The specific formula is as follows:

[0068] where , , , and are the pseudorange code biases of the receiver at frequencies and frequency , and represent the pseudorange code biases of the satellite at frequencies and frequency .

[0069] It should be further noted that since the ionospheric slant delay extracted in the above formula introduces errors of the satellite and the receiver, the inter-satellite single difference is used to eliminate the influence of the receiver-end errors. Therefore, the inter-satellite single-difference ionospheric slant delay can be expressed as:

[0070] where, is the mapping function, and are respectively the elevation angles of satellite and reference satellite , and are the satellites and reference satellite Vertical ionospheric delay.

[0071] Furthermore, regarding the vertical delay effect and the horizontal gradient effect:

[0072] Among them, is the vertical delay effect, is the horizontal gradient effect. The variation of the ionosphere in the horizontal direction can be approximately represented by the horizontal gradient and the distance :

[0073] Therefore, the influence of the horizontal gradient can be expressed as:

[0074] Among them, , are respectively the elevation angles of the satellite observed at the station and the reference satellite , is the ionospheric horizontal gradient, is the station spacing between the reference station r and the reference point o It should be further noted that the vertical delay effect is specifically described as follows:

[0075] It can be understood that for the vertical delay effect, it can be analyzed using a function of the elevation angle:

[0076] It should be further noted that the estimated coefficients are sent to the user in the form of satellite communication broadcasts and the inter-satellite single-difference ionospheric slant delay is fitted at the user end.

[0077] The user uses the fitted inter-satellite single-difference ionospheric slant delay as the enhanced information of the ionosphere to achieve rapid ambiguity fixing and improve the positioning performance of precise point positioning and real-time kinematic positioning technology (PPP-RTK). Specifically as follows:

[0078] Among them, is the estimated SID of the user, and the residual obeys a normal distribution with a mean of zero and a prior variance of .

[0079] It should be noted that the user uses the fitted SID as a constraint for the ionospheric delay parameter to achieve rapid ambiguity fixing.

[0080] It should be further noted that the method adopted in the present invention takes into account the influence of both horizontal gradients and vertical delays during the modeling process. Compared with the traditional polynomial method that only considers horizontal gradients, the modeling accuracy is significantly improved. The improvement of the modeling accuracy can not only effectively relieve the channel data transmission pressure, but also further shorten the time for the ambiguity to be fixed for the first time at the user end, and improve the positioning performance of precise point positioning and real-time kinematic positioning.

[0081] To better implement the regional ionospheric modeling method in the embodiments of the present invention, correspondingly, on the basis of regional ionospheric modeling, as Figure 2 shown, the embodiments of the present invention also provide a regional ionospheric modeling device. The regional ionospheric modeling device 200 includes: A first data acquisition unit 201, configured to acquire the coordinates of multiple reference stations in the region, match the coordinates with a preset threshold to obtain the coordinates of the reference points, and based on the coordinates of multiple reference stations in the region and the coordinates of the reference points, obtain the longitude difference and latitude difference between the regional reference stations and the reference points; A second data acquisition unit 202, configured to acquire the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of multiple reference stations in the region, obtain the difference in the elevation angles of the multiple reference stations and the reference points observing the target satellite; A coefficient matrix construction unit 203, configured to construct a coefficient matrix based on the difference in elevation angles, the longitude difference and latitude difference between the regional reference stations and the reference points; A regional ionospheric model construction unit 204, configured to construct a regional ionospheric model based on the coefficient matrix and the acquired regional ionospheric model coefficients.

[0082] The above-described regional ionospheric modeling device 200 provided in the above embodiments can implement the technical solutions described in the above embodiments of the regional ionospheric modeling method. The specific implementation principles of the above modules or units can be referred to the corresponding content in the above embodiments of the regional ionospheric modeling method, and will not be elaborated here.

[0083] Furthermore, the embodiments of the present application provide a computer-readable storage medium. The computer-readable storage medium is used to store computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the regional ionospheric modeling method provided in the above method embodiments.

[0084] Those skilled in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The computer program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory or a random access memory, etc.

[0085] The above has introduced in detail the regional ionospheric modeling method, device and storage medium provided by the present invention. Specific examples are used in this article to elaborate on the principle and embodiments of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A regional ionospheric modeling method, characterized in that: include: Acquire coordinates of multiple reference stations in the region, match the coordinates with a preset threshold value, obtain coordinates of the reference point, and obtain longitude differences and latitude differences between the regional reference station and the reference point based on the coordinates of the multiple reference stations in the region and the coordinates of the reference point; Acquire the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of multiple reference stations in the area, obtain the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point; A coefficient matrix is ​​constructed based on the difference in altitude angle, the difference in longitude and the difference in latitude between the regional reference station and the reference point; The regional ionospheric model is constructed based on the coefficient matrix and the obtained regional ionospheric model coefficients.

2. The regional ionospheric modeling method according to claim 1, characterized in that: The regional ionosphere model is: in, and is: the coordinate difference between reference station r and reference station o, , , , as well as are: a first coefficient of a polynomial expansion associated with a horizontal gradient, a second coefficient of a polynomial expansion associated with a horizontal gradient, a third coefficient of a polynomial expansion associated with a horizontal gradient, a fourth coefficient of a polynomial expansion associated with a horizontal gradient, and a fifth coefficient of a polynomial expansion associated with a horizontal gradient, , , as well as are respectively: a first coefficient of a polynomial expansion associated with the ionospheric vertical delay, a second coefficient of a polynomial expansion associated with the ionospheric vertical delay, a third coefficient of a polynomial expansion associated with the ionospheric vertical delay, and a fourth coefficient of a polynomial expansion associated with the ionospheric vertical delay, is: the altitude angle of satellite s obtained by reference station r, is: the reference star obtained by reference station r The altitude angle, is: the altitude angle of satellite s obtained from reference point o and The reference star obtained from the reference point o The altitude angle.

3. The regional ionospheric modeling method according to claim 1, characterized in that: The step of obtaining the longitude difference and latitude difference between the regional reference station and the reference point based on the coordinates of the plurality of reference stations in the region and the coordinates of the reference point comprises: The coordinates of multiple reference stations in the region are subtracted from the coordinates of the reference point to obtain the longitude difference and latitude difference between the regional reference station and the reference point.

4. The regional ionospheric modeling method according to claim 1, characterized in that: The method of obtaining the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of the multiple reference stations in the region includes: Based on the coordinates of the target satellite and the coordinates of multiple reference stations in the area, the altitude angles of the target satellite observed by the multiple reference stations are obtained. Based on the altitude angles of the target satellite observed by the multiple reference stations and the altitude angle of the target satellite observed by the reference point, the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point is obtained.

5. The regional ionosphere modeling method according to claim 4, characterized in that: The method of obtaining the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point based on the coordinates of the target satellite and the coordinates of the multiple reference stations in the region includes: Based on the difference between the altitude angles of the target satellite observed by the multiple reference stations and the altitude angle of the target satellite observed by the reference point, the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point is obtained.

6. The regional ionospheric modeling method according to claim 1, characterized in that: The obtained regional ionospheric model coefficients include: The original observation data of the regional reference station receiver is obtained, and based on the original observation data, the high-precision ionospheric slant delay correction number of the target satellite is obtained, and based on the high-precision ionospheric slant delay correction number of the target satellite, the regional ionospheric model coefficient is obtained; the observation data include: pseudorange and phase observation values ​​of the regional reference station receiver.

7. The regional ionosphere modeling method according to claim 6, characterized in that: The high-precision ionospheric slant delay correction number based on the target satellite is used to obtain the regional ionospheric model coefficient, including: The observation vector is composed of the high-precision ionospheric slant delay correction number based on the target satellite, and the regional ionospheric model coefficient is obtained based on the observation vector.

8. The regional ionosphere modeling method according to claim 7, characterized in that: The regional ionospheric model coefficients are obtained based on the observation vector, including: The observation equation is constructed based on the observation vector, and the observation equation is solved based on the least squares method to obtain the regional ionospheric model coefficients.

9. A regional ionospheric modeling device, characterized in that: include: A first data acquisition unit is used to acquire coordinates of multiple reference stations in the region, match the coordinates with a preset threshold value to obtain coordinates of a reference point, and obtain longitude differences and latitude differences between the regional reference stations and the reference point based on the coordinates of the multiple reference stations in the region and the coordinates of the reference point; A second data acquisition unit is used to acquire the coordinates of the target satellite, and based on the coordinates of the target satellite and the coordinates of the multiple reference stations in the area, obtain the difference in altitude angles of the target satellite observed by the multiple reference stations and the reference point; A coefficient matrix building unit is used to build a coefficient matrix based on the difference in altitude angle, the difference in longitude and the difference in latitude between the regional reference station and the reference point; The regional ionospheric model building unit is used to build a regional ionospheric model based on the coefficient matrix and the obtained regional ionospheric model coefficients.

10. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the regional ionosphere modeling method described in any one of claims 1 to 8.

Images