Enhanced positioning SSR real-time correction loop monitoring method and device

Abstract

The invention discloses an enhanced positioning SSR real-time correction loop monitoring method and device, and belongs to the technical field of satellite navigation positioning. The method comprises the following steps: monitoring the quality of reference station data through an SSR correction parameter estimation monitoring end, and generating a data source link quality identifier Q-I; performing precision comparison and availability monitoring on the independently estimated SSR correction product and a third-party service mechanism product through an SSR correction product monitoring end, and generating a product information source link quality identifier Q-II; user positioning scenes with different precision requirements are simulated through an SSR correction product service monitoring end, and a product service link quality identifier Q-III is generated; and encoding the quality identifiers Q-I, Q-II and Q-III into an SSR message at an SSR recoding end for broadcasting. According to the invention, the operation system can provide hierarchical services, and different user requirements are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite navigation and positioning, and particularly relates to a method and device for monitoring the real-time correction number loop of enhanced positioning SSR. Background Art

[0002] PPP-RTK (Precise Point Positioning-Real Time Kinematic) is a high-precision positioning technology based on State Space Representation (SSR) parameters. By comprehensively processing data from global reference stations and backbone network reference stations, it generates state corrections such as satellite orbits, clock biases, and ionospheres, and sends these corrections to the user side for real-time high-precision position calculation. This technology is widely used in industries such as autonomous driving, unmanned farms, and offshore pastures to meet the requirements for real-time high-precision positioning in these fields. High-continuity and high-reliability SSR data products are the key to ensuring real-time continuity of navigation and positioning. Especially in the fields of unmanned and autonomous driving, higher requirements are put forward for the continuity and quality of real-time SSR state space parameters.

[0003] However, the current technical means can only monitor a single link of the real-time correction number of SSR, specifically as follows: The server receives and decodes SSR data in real time, obtains correction parameters such as satellite orbits, clock biases, and ionospheres, and compares them with third-party service agencies to evaluate the accuracy. However, this monitoring method has obvious deficiencies: When an anomaly occurs, it is difficult for operation and maintenance personnel to accurately determine the cause of the failure and notify users in a short time, resulting in users being unable to use the service during the failure. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a method and device for monitoring the real-time correction number loop of enhanced positioning SSR, which monitors each link of the data loop to ensure that the operator provides stable and reliable PPP-RTK positioning SSR correction data.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A method for monitoring the real-time correction number loop of enhanced positioning SSR, the method comprising:

[0007] Step S1, monitoring the quality of global reference station data, regional reference station data, and local reference station data through an SSR correction parameter estimation monitoring end to generate a data source link quality identifier Q-I;

[0008] Step S2, comparing the accuracy and availability of the self-estimated SSR correction product with that of the third-party service agency product through an SSR correction product monitoring end to generate a product information source link quality identifier Q-II;

[0009] Step S3: Use SSR to correct the user positioning scenarios with different precision requirements at the product service monitoring end, evaluate the positioning performance, and generate the product service link quality identifier Q-III.

[0010] Step S4: At the SSR recoding end, encode the data source link quality identifier Q-I, the product information source link quality identifier Q-II, and the product service link quality identifier Q-III into the SSR message for broadcasting.

[0011] On the other hand, the present invention provides an enhanced positioning SSR real-time correction number loop monitoring device, including an SSR correction parameter estimation monitoring end, an SSR correction product monitoring end, an SSR correction product service monitoring end, and an SSR product recoding end; wherein:

[0012] The SSR correction parameter estimation monitoring end monitors the quality of global reference station data, regional reference station data, and local reference station data, and generates the data source link quality identifier Q-I.

[0013] The SSR correction product monitoring end compares the accuracy and monitors the usability of the self-estimated SSR correction product and the product of the third-party service agency through the SSR correction product monitoring end, and generates the product information source link quality identifier Q-II.

[0014] The SSR correction product service monitoring end simulates user positioning scenarios with different precision requirements, evaluates the positioning performance, and generates the product service link quality identifier Q-III.

[0015] The SSR recoding end encodes the data source link quality identifier Q-I, the product information source link quality identifier Q-II, and the product service link quality identifier Q-III into the SSR message for broadcasting.

[0016] In a third aspect, the present invention provides an electronic device, including: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned enhanced positioning SSR real-time correction number loop monitoring method.

[0017] In a fourth aspect, the present invention provides a computer-readable storage medium, on which executable instructions are stored, and when the instructions are executed by a processor, the processor can implement the aforementioned enhanced positioning SSR real-time correction number loop monitoring method.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention monitors the SSR real-time correction product from the entire loop of the data end, product end, and service end to ensure the closed-loop of SSR monitoring, and respectively evaluates the quality identifier Q of each loop; when an abnormality occurs, the operation and maintenance system or the user can make a fault inference and take corresponding technical measures according to the loop quality identifier Q in a short time; by deconstructing and re-encoding, taking into account the needs of two different types of users, the operation system can provide hierarchical services to ensure the needs of different users. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flowchart of a method for enhancing the positioning SSR real-time correction number loop monitoring according to the present invention;

[0021] Figure 2 It is a schematic diagram of a method for identifying the quality of the data source link according to the present invention;

[0022] Figure 3 It is a schematic diagram of a method for identifying the quality of the product information source link according to the present invention;

[0023] Figure 4 It is a schematic diagram of a method for identifying the quality of the service link according to the present invention;

[0024] Figure 5 It is a schematic diagram of a method for deconstructing and re-encoding telegrams according to the present invention;

[0025] Figure 6 It is a schematic diagram of the loop monitoring of the data end - product end - service end according to the present invention;

[0026] Figure 7 It is a schematic diagram of a device for enhancing the positioning SSR real-time correction number loop monitoring according to the present invention.

[0027] Among them, the reference numerals are: SSR correction parameter estimation monitoring end P01, SSR correction product monitoring end P02, SSR correction product service monitoring end P03, SSR product re-encoding end P04. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The present invention will be further described below with reference to the drawings and embodiments.

[0029] The method for enhancing the positioning SSR real-time correction number loop monitoring provided by the embodiment of the present invention can be executed by the device for enhancing the positioning SSR real-time correction number loop monitoring provided by the embodiment of the present invention. The device for enhancing the positioning SSR real-time correction number loop monitoring provided by the embodiment of the present invention can be integrated on a server, or the device can be the server itself.

[0030] As Figure 1 shown, a method for enhancing the positioning SSR real-time correction number loop monitoring provided by the present invention includes:

[0031] Step S1: The monitoring end P01 of SSR correction parameter estimation monitors the quality of global reference station data, regional reference station data, and local reference station data to generate a data source link quality identifier Q-I;

[0032] Step S2: The monitoring end P02 of SSR correction product monitors the accuracy comparison and availability of the self-estimated SSR correction product and the product of a third-party service agency to generate a product information source link quality identifier Q-II;

[0033] Step S3: The monitoring end P03 of SSR correction product service simulates user positioning scenarios with different accuracy requirements, evaluates the positioning performance, and generates a product service link quality identifier Q-III;

[0034] Step S4: At the SSR product recoding end P04, the data source link quality identifier Q-I, the product information source link quality identifier Q-II, and the product service link quality identifier Q-III are encoded into the SSR telegram for broadcast.

[0035] Among them, in the step S1, the method for generating the data source link quality identifier Q-I at the monitoring end P01 of SSR correction parameter estimation is as Figure 2 shown and includes:

[0036] Step S101: Real-time access to global IGS, local, regional reference stations, and broadcast ephemeris through the NTRIP protocol. In this embodiment, the attributes of the accessed reference stations are divided according to different SSR correction products, such as the attributes of orbit estimation stations, clock error estimation stations, etc.;

[0037] Step S102: Conduct quality monitoring of reference station data for reference stations with different attributes, mainly including the availability of reference station data and the analysis of the quality of observation data. The availability of the reference station data mainly judges whether the reference station observation data can be obtained in real time through the NTRIP protocol; the analysis of the quality of the observation data mainly monitors the integrity, time delay, such as cycle slip ratio, observation quality, etc. of the data through the broadcast ephemeris and the real-time observation data of each reference station;

[0038] Step S103: Set different anomaly discrimination rules according to the attributes of each station. For example, when calculating the precise satellite orbit SSR correction, usually 80-100 global IGS reference stations are selected. If the availability of the reference station is lower than 80% or the cycle slip ratio of the data quality of more than 30% of the reference stations is less than 200, it is considered that there is an anomaly in the data source. Different anomaly determination rules are set according to the differences of different SSR correction products, and different levels of anomaly levels are set.

[0039] Step S104: Generate a data source link quality identifier Q-I according to the result of anomaly determination. The quality identifier Q-I consists of 3-bit integer int numbers, and the identification rules are as shown in Table 1 below:

[0040] Table 1

[0041] The quality identifier Q-I is sent to the SSR re-encoding end in a certain structure through UDP multicast.

[0042] Among them, in step S2, the method for obtaining the product information source link quality identifier Q-II at the SSR correction product monitoring end P02 is as Figure 3 shown:

[0043] Step S201: Real-time access to SSR correction products from other service centers such as IGS and SSR correction products calculated independently are evaluated for accuracy, and information such as satellite orbit RMS accuracy, clock error STD accuracy, ionospheric TECU accuracy, etc. are statistically obtained to obtain SSR product accuracy information; on the other hand, by obtaining the time stamp information of the independently estimated SSR correction products and comparing the difference with the current time, the availability of the products is monitored to obtain availability information.

[0044] Step S202: Perform anomaly discrimination based on the SSR product accuracy information and availability information obtained in step S201. When it is monitored that the SSR product accuracy information exceeds the limit (such as the radial RMS error of the satellite orbit correction exceeds 10 cm) or the product availability has an interruption time exceeding 60 s, through a database based on MYSQL or other forms, query information with the SSR correction parameter estimation monitoring end P01 in the form of API interfaces such as post or get, determine whether there is an anomaly in the reference station data related to the calculation of the orbit, and at the same time interact with the SSR correction product service monitoring end to determine whether the accuracy limit information affects the positioning service. Different anomaly determination rules are set according to the differences of different SSR correction products, and different levels of anomaly levels are set.

[0045] Step S203: Generate the data source link quality identifier Q-II according to the result of the anomaly determination, and send it to the SSR re-encoding end in a certain structure through UDP multicast. The quality identifier Q-II is composed of 5-bit integer int numbers, and the identification rules are as shown in Table 2 below:

[0046] Table 2

[0047] Among them, in step S3, the method for obtaining the product service link quality identifier Q-III at the SSR correction product service monitoring end P03 is as Figure 4 shown:

[0048] Step S301: According to the user's requirements for positioning accuracy at different levels, monitor the service quality of different SSR real-time correction data. PPP positioning mainly monitors the service for users with primary positioning accuracy, mainly accessing the precise satellite orbit, clock error, and code bias SSR real-time corrections; PPP-AR positioning mainly monitors the service for users with medium positioning accuracy, and accesses the phase bias SSR real-time correction on the PPP positioning product; PPP-RTK positioning mainly monitors the service for users with high-precision positioning, and accesses all SSR product data.

[0049] Step S302: Determine the positioning accuracy anomaly based on the positioning results of different positioning modes. For example, in PPP positioning, if the horizontal positioning accuracy exceeds 10 cm and lasts for more than 60 s, the system determines that there is an anomaly in the precise satellite orbit, clock, and code bias products. When an anomaly occurs, query information with the SSR correction parameter estimation monitoring end P01 through API interfaces such as post or get in a database based on MYSQL or other forms, determine that there is an anomaly in the reference station data related to the products monitored by the PPP positioning, and at the same time, interact with the SSR correction product monitoring end P02 to determine whether there are problems such as product accuracy exceeding the limit or availability reduction. Similarly, set different anomaly determination levels according to the different positioning accuracies and anomaly times of PP-AR and PPP-RTK. The levels can be set according to relevant user requirements and opinions of relevant industry experts.

[0050] Step 303: Generate the product service link quality identifier Q-III based on the anomaly evaluation result. Q-II is sent to the SSR re-encoding end in a certain structure through UDP multicast. The quality identifier Q-III consists of 6-bit integer int numbers, and the identification rules are as shown in Table 3 below:

[0051] Table 3

[0052] Among them, in step S4, the method for the SSR re-encoding end P04 to perform telegram deconstruction and re-encoding is as Figure 5 shown, specifically as follows:

[0053] Step S401: Receive the SSR products encoded as RTCM 3 protocol telegrams in real time through UDP or NTRIP protocol. If the SSR products have been encoded as telegrams according to the RTCM 3 protocol, deconstruct these products and extract the corresponding correction structure. Taking the orbit telegram as an example, extract the corresponding correction information according to different bit positions.

[0054] Step S402: Obtain the product data source link quality identifier Q-I, the product information source link quality identifier Q-II, and the product service link quality identifier Q-III in real time via UDP. To avoid affecting the usage experience of other users and to comply with the encoding protocol of RTCM messages, append this quality identifier information to the corresponding orbit messages. According to the previous definition, add 14 bits, where bits 1-3 are the quality identifier Q-I, bits 4-8 are the quality identifier Q-II, and bits 9-14 are the quality identifier Q-III.

[0055] In addition, re-encode the SSR correction information structure obtained by deconstruction in step S401 according to the standard RTCM protocol. After completing the encoding, further expand the bit number of the corresponding message and encode the quality identifier information as well. Finally, broadcast the encoded data through the Internet or satellite via the server.

[0056] The user group is divided into ordinary users and VIP users. Ordinary users perform decoding and matching according to the standard product to complete positioning, but cannot obtain the quality identifier of loop monitoring, so they cannot perform quality control on the positioning. VIP users, on the other hand, can, in the user-side algorithm, continue to parse the additional 14-bit quality identifier after parsing the normal product according to the given encoding protocol. By receiving these quality identifiers, VIP users can perform positioning quality control on the user side, thereby improving the credibility of the positioning.

[0057] On the other hand, the present invention provides an enhanced positioning SSR real-time correction loop monitoring device, and each module included therein can implement each step of the foregoing method. Specifically, as Figure 7 shown, it includes: an SSR correction parameter estimation monitoring end P01, an SSR correction product monitoring end P02, an SSR correction product service monitoring end P03, and an SSR product re-encoding end P04;

[0058] The main function of the SSR correction parameter estimation monitoring end P01 is to receive data from global reference stations, regional reference stations, local reference stations, and broadcast ephemerides, and monitor the quality of this data. The monitoring content covers indicators such as the integrity rate of reference station data, data delay, and observation quality. In addition, the SSR correction parameter estimation monitoring end P01 also monitors the operating status of software such as satellite orbits, clock errors, and ionospheres, and marks the quality identifier Q-I of the product data source link.

[0059] The functions of the monitoring end P02 of the SSR correction product are divided into two aspects: on the one hand, it conducts differential evaluation on the real-time accuracy of satellite orbits and clock biases by comparing with products from third-party service centers such as IGS and GFZ. The evaluation period can select a sliding window of 5 minutes or 1 hour; on the other hand, P02 monitors the continuity and integrity of the product by receiving and decoding the message information in real time, obtaining data such as the time header and the number of satellites, and marking the quality identifier Q-II of the product information source link.

[0060] The main task of the monitoring end P03 of the SSR correction product service is to simulate the user usage scenario, perform positioning by combining reference station data and SSR real-time correction products, and statistically analyze the real-time positioning accuracy. Specifically, the monitoring end P03 of the SSR correction product service selects precise satellite orbit, clock bias, and code bias products for real-time PPP positioning to simulate users with elementary positioning accuracy requirements; on this basis, it further selects phase bias products for real-time PPP-AR positioning to simulate users with medium positioning accuracy requirements; finally, it selects ionosphere, troposphere products and related reliable products for high-precision PPP-RTK positioning, and marks the quality identifier Q-III of the product service link.

[0061] The SSR product recoding end P04 is responsible for deconstructing and recoding the SSR message. After obtaining correction values such as satellite orbits, clock biases, phase biases, and ionospheres, it encodes the correction values into SSR messages according to the RTCM-SSR format for broadcasting, and synchronously adds quality identifiers Q-I, Q-II, and Q-III to the messages. The encoding format conforms to the RTCM standard.

[0062] Furthermore, when the monitoring end P01 of the SSR correction parameter estimation detects abnormal information, it will interact with the monitoring end P02 of the SSR correction product and the monitoring end P03 of the SSR correction product service through APIs such as post or get using MYSQL or other databases to determine the level of the quality identifier Q-I. Similarly, after the monitoring end P02 of the SSR correction product detects abnormal information, it will interact with the monitoring end P01 of the SSR correction parameter estimation and the monitoring end P03 of the SSR correction product service to determine the level of the quality identifier Q-II, and the monitoring end P03 of the SSR correction product service also determines the level of the quality identifier Q-III in the same way. These quality identifiers (Q-I, Q-II, Q-III) can be implemented through a rule-based expert system algorithm. The rule expert system is an artificial intelligence method that uses a knowledge base and an inference engine for judgment and decision-making, and is applicable to the monitoring scenarios with clear rules and clear logic in the present invention.

[0063] Based on the above method, the loop monitoring of the data end - product end - service end of the SSR real-time correction values is completed, and the process is as Figure 6 shown.

[0064] In a third aspect, the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the foregoing enhanced positioning SSR real-time correction loop monitoring method.

[0065] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which when executed by a processor can cause the processor to implement the foregoing enhanced positioning SSR real-time correction loop monitoring method.

[0066] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An enhanced positioning SSR real-time correction loop monitoring method, characterized in that, The method includes: Step S1: The monitoring end for SSR correction parameter estimation monitors the data of global reference stations, regional reference stations, and local reference stations to generate a data source link quality identifier Q-I. Step S2: The monitoring end for SSR correction product monitors the accuracy comparison and availability of the self-estimated SSR correction product and the products of third-party service agencies to generate a product information source link quality identifier Q-II. Step S3: The monitoring end for SSR correction product service simulates user positioning scenarios with different accuracy requirements, evaluates the positioning performance, and generates a product service link quality identifier Q-III. Step S4: At the SSR product recoding end, the data source link quality identifier Q-I, the product information source link quality identifier Q-II, and the product service link quality identifier Q-III are encoded into the SSR message for broadcasting.

2. The enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, wherein, The said Step 1 includes: Real-time access to various types of reference station data through the NTRIP protocol; Monitor the integrity rate, data delay, and observation quality of the reference station data; Generate a 3-bit integer data source link quality identifier Q-I according to the preset anomaly discrimination rule. Each identification bit of the 3-bit integer data represents the data anomaly level, the possible affected product, and whether it affects the product quality.

3. An enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, characterized in that, The said Step 2 includes: Real-time comparison of the orbit RMS accuracy, clock error STD accuracy, and ionospheric TECU accuracy between the self-estimated SSR product and the third-party product; When detecting accuracy overrun or availability interruption, judge whether there is an anomaly in the reference station data related to the orbit calculation, and at the same time interact with the monitoring end for SSR correction product service to determine whether the accuracy overrun information affects the positioning service; Set different anomaly determination rules according to the differences of different SSR correction products, and generate a 5-bit integer data product information source link quality identifier Q-II according to the anomaly determination result. Each identification bit of the 5-bit integer data represents the product identifier, whether the accuracy is abnormal, whether the availability is abnormal, the reason for the anomaly, and whether it affects the product quality.

4. An enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, characterized in that The said Step 3 includes: Set positioning accuracy monitoring thresholds for PPP, PPP-AR, and PPP-RTK positioning modes respectively; When detecting abnormal positioning accuracy, interact with the monitoring end for SSR correction parameter estimation and the monitoring end for SSR correction product to confirm the source of the anomaly; Generate a 6-bit integer data product service link quality identifier Q-III according to the anomaly determination result. Each identification bit of the 6-bit integer data represents the service impact identifier, the service impact level, the product identifier, whether the precision is abnormal, whether the availability is abnormal, and whether the data source is abnormal.

5. An enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, characterized in that The said Step 4 includes: Encode the SSR correction number according to the RTCM-SSR standard format; Append 14-bit quality identification information to the end of the message. Among them, the 1st - 3rd bits are the data source link quality identifier Q-I; the 4th - 8th bits are the product information source link quality identifier Q-II; the 9th - 14th bits are the product service link quality identifier Q-III.

6. The enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, characterized in that, Transmit quality identification information among monitoring terminals through UDP multicast; store monitoring data using a MySQL database; implement abnormal information interaction among monitoring terminals through an API interface.

7. An enhanced positioning SSR real-time correction number loop monitoring method according to claim 1, characterized in that Broadcast standard SSR messages to ordinary users; broadcast extended SSR messages containing quality identification to VIP users; the user terminal performs positioning quality control based on the received quality identification.

8. An enhanced positioning SSR real-time correction loop monitoring device, characterized in that, It includes an SSR correction parameter estimation monitoring terminal, a continuous SSR correction product monitoring terminal, an SSR correction product service monitoring terminal, and an SSR product recoding terminal; among them, The SSR correction parameter estimation monitoring terminal monitors the quality of global reference station data, regional reference station data, and local reference station data, and generates a data source link quality identification Q-I; The SSR correction product monitoring terminal compares the accuracy and monitors the usability of the self-estimated SSR correction product and the products of third-party service agencies through the SSR correction product monitoring terminal, and generates a product information source link quality identification Q-II; The SSR correction product service monitoring terminal simulates user positioning scenarios with different accuracy requirements, evaluates the positioning performance, and generates a product service link quality identification Q-III; The SSR product recoding terminal encodes the data source link quality identification Q-I, the product information source link quality identification Q-II, and the product service link quality identification Q-III into the SSR message for broadcasting.

9. An electronic device, characterized in that, It includes: One or more processors; A memory for storing one or more programs; Among them, when the one or more programs are executed by the one or more processors, the one or more processors implement an enhanced positioning SSR real-time correction number loop monitoring method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, An executable instruction is stored thereon, and when the instruction is executed by a processor, the processor can implement an enhanced positioning SSR real-time correction number loop monitoring method according to any one of claims 1-7.

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