An enhanced positioning SSR real-time correction loop monitoring method and device

Abstract

The present invention discloses a method and device for monitoring the real-time correction loop of enhanced positioning SSR, which belongs to the field of satellite navigation positioning technology. The method includes performing quality monitoring on the base station data through the SSR correction parameter estimation monitoring terminal, generating a data source link quality identifier Q‑I; performing accuracy comparison and availability monitoring on the self-estimated SSR correction product and the third-party service agency product through the SSR correction product monitoring terminal, generating a product information source link quality identifier Q‑II; simulating user positioning scenarios with different accuracy requirements through the SSR correction product service monitoring terminal, generating a product service link quality identifier Q‑III; encoding the quality identifiers Q‑I, Q‑II and Q‑III into the SSR telegram at the SSR recoding terminal for broadcasting. The present invention allows the operating system to provide hierarchical services to ensure the needs of different users.

Description

Technical Field

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

[0002] PPP-RTK (Precise Point Positioning-Real Time Kinematic) is a high-precision positioning technology based on state-domain (SSR) parameters. It comprehensively processes data from global framework and backbone network base stations to generate state corrections for satellite orbits, clock errors, ionosphere, and other parameters. These corrections are then transmitted to the user end for real-time, high-precision position calculation. This technology is widely used in industries such as autonomous driving, unmanned farming, and marine ranching, meeting the demand for real-time, high-precision positioning. Highly continuous and reliable SSR data products are key to ensuring real-time, continuous navigation and positioning. This is particularly true in the unmanned and autonomous driving sectors, which place higher demands on the continuity and quality of real-time SSR state-domain parameters.

[0003] However, current technology only monitors a single link in the SSR real-time correction chain. Specifically, the server receives and decodes SSR data in real time, obtains correction parameters such as satellite orbit, clock error, and ionosphere, and compares them with third-party service agencies to assess accuracy. However, this monitoring method has obvious shortcomings: when an anomaly occurs, operations and maintenance personnel struggle to accurately determine the cause of the failure and promptly notify users, resulting in users being unable to use services during the outage. 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 data loop of enhanced positioning SSR, which monitors each link of the data loop to ensure that operators provide 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 a real-time correction loop of an enhanced positioning SSR, the method comprising:

[0007] Step S1, the monitoring terminal performs quality monitoring on the global reference station data, the regional reference station data and the local reference station data through the SSR correction parameter estimation, and generates a data source link quality identifier QI;

[0008] Step S2: The SSR correction product monitoring terminal compares the accuracy and availability of the independently estimated SSR correction product with the product of the third-party service agency to generate a product information source link quality identifier Q-II;

[0009] Step S3: Use the SSR correction product service monitoring terminal to simulate user positioning scenarios with different accuracy requirements, evaluate positioning performance, and generate a product service link quality indicator Q-III;

[0010] Step S4: At the SSR re-encoding end, the data source link quality identifier QI, the product information source link quality identifier Q-II and the product service link quality identifier Q-III are encoded into an SSR message for broadcast.

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

[0012] The SSR correction parameter estimation monitoring terminal performs quality monitoring on the global reference station data, the regional reference station data and the local reference station data, and generates a data source link quality identifier QI;

[0013] The SSR correction product monitoring terminal performs accuracy comparison and availability monitoring on the independently estimated SSR correction product and the product of the third-party service agency through the SSR correction product monitoring terminal, and generates a product information source link quality identifier Q-II;

[0014] The SSR correction product service monitoring terminal simulates user positioning scenarios with different accuracy requirements, evaluates positioning performance and generates a product service link quality indicator Q-III;

[0015] The SSR re-encoding end encodes the data source link quality identifier QI, 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 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 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 having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned enhanced positioning SSR real-time correction number loop monitoring method.

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

[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 evaluates the quality identification Q of each loop separately; when an abnormality occurs, the operation and maintenance system or the user can make a fault inference in a short time and take corresponding technical measures based on the loop quality identification Q; through deconstruction and recoding, the needs of two different types of users are taken into account, allowing the operation system to provide hierarchical services to ensure the needs of different users. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a flow chart of a method for monitoring a real-time correction loop for enhanced positioning SSR according to the present invention;

[0021] Figure 2 Schematic diagram of a data source link quality identification method according to the present invention;

[0022] Figure 3 Schematic diagram of the product information source link quality identification method of the present invention;

[0023] Figure 4 Schematic diagram of the service link quality identification method of the present invention;

[0024] Figure 5 Schematic diagram of the method for deconstructing and re-encoding a message according to the present invention;

[0025] Figure 6 Schematic diagram of loop monitoring of data end-product end-service end of the present invention;

[0026] Figure 7 This is a schematic diagram of an enhanced positioning SSR real-time correction loop monitoring device of the present invention.

[0027] Among them, the accompanying drawings are marked as: SSR correction parameter estimation monitoring terminal P01, SSR correction product monitoring terminal P02, SSR correction product service monitoring terminal P03, and SSR product recoding terminal P04. DETAILED DESCRIPTION

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

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

[0030] like Figure 1 As shown, the present invention provides an enhanced positioning SSR real-time correction loop monitoring method comprising:

[0031] Step S1, the SSR correction parameter estimation monitoring terminal P01 performs quality monitoring on the global reference station data, the regional reference station data and the local reference station data, and generates a data source link quality identifier QI;

[0032] Step S2: The SSR correction product monitoring terminal P02 performs accuracy comparison and availability monitoring on the self-estimated SSR correction product and the product of the third-party service agency, and generates a product information source link quality identifier Q-II;

[0033] Step S3: Use the SSR correction product service monitoring terminal P03 to simulate user positioning scenarios with different accuracy requirements, evaluate positioning performance, and generate a product service link quality indicator Q-III;

[0034] Step S4: The SSR product re-encoding terminal P04 encodes the data source link quality identifier QI, the product information source link quality identifier Q-II and the product service link quality identifier Q-III into an SSR message for broadcast.

[0035] Wherein, in step S1, the method for generating the data source link quality identifier QI at the SSR correction parameter estimation monitoring terminal P01 is as follows: Figure 2 Shown include:

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

[0037] Step S102: Base station data quality monitoring is performed for base stations with different attributes, mainly including base station data availability and observation data quality analysis. The base station data availability is mainly used to determine whether the base station observation data can be obtained in real time through the NTRIP protocol. The observation data quality analysis mainly monitors the integrity, delay (such as cycle slip ratio), and observation quality of the data using the broadcast ephemeris and the real-time observation data of each base station.

[0038] Step S103: Different anomaly detection rules are set based on the properties of each station. For example, when calculating precise satellite orbit SSR corrections, 80-100 IGS reference stations are typically selected worldwide. If the reference station availability is less than 80% or the cycle slip ratio of more than 30% of the reference stations is less than 200, the data source is considered abnormal. Different anomaly detection rules are set based on the differences between different SSR correction products, and different anomaly levels are set.

[0039] Step S104: Generate a data source link quality identifier QI based on the result of the abnormality determination. The quality identifier QI is composed of a 3-digit integer. The identification rules are as shown in Table 1:

[0040] Table 1

[0041]

[0042] The quality identifier QI is sent to the SSR re-encoding end via UDP multicast in a certain structure.

[0043] Among them, the step S2, the SSR corrects the product monitoring terminal P02 to obtain the product information source link quality identifier Q-II method as follows Figure 3 As shown:

[0044] Step S201: In real time, access the SSR correction products of other service centers such as IGS and conduct accuracy assessment on various SSR correction products calculated independently, collect statistics such as satellite orbit RMS accuracy, clock error STD accuracy, ionospheric TECU accuracy, etc., and obtain SSR product accuracy information; on the other hand, obtain the time mark information of various SSR correction products estimated independently and compare it with the current time to monitor the availability of the product and obtain availability information;

[0045] Step S202: Perform abnormality identification 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 10cm) or the product availability is interrupted for more than 60s, an information query is performed with the SSR correction parameter estimation monitoring terminal P01 through a database based on MYSQL or other forms in the form of an API interface such as post or get to determine whether the calculated orbit-related base station data is abnormal. At the same time, information is exchanged with the SSR correction product service monitoring terminal to determine whether the accuracy exceeding limit information affects the positioning service. Different abnormality judgment rules are set according to the differences between different SSR correction products, and different levels of abnormality levels are set.

[0046] Step S203: Generate a data source link quality identifier Q-II based on the result of the abnormality determination and send it to the SSR re-encoding end via UDP multicast in a certain structure. The quality identifier Q-II is composed of a 5-bit integer number. The identification rules are as shown in Table 2:

[0047] Table 2

[0048]

[0049] Among them, the step S3, the SSR corrects the product service monitoring terminal P03 to obtain the product service link quality identifier Q-III method as follows Figure 4 As shown:

[0050] Step S301: Based on the user's requirements for different levels of positioning accuracy, different SSR real-time correction values are used to monitor service quality. PPP positioning primarily monitors services for users requiring elementary positioning accuracy, primarily accessing precise satellite orbit, clock, and code deviation SSR real-time corrections. PPP-AR positioning primarily monitors services for users requiring medium positioning accuracy, accessing phase deviation SSR real-time corrections on PPP positioning products. PPP-RTK positioning primarily monitors services for users requiring high-precision positioning, accessing data for all SSR products.

[0051] Step S302: Perform positioning accuracy abnormality judgment based on the positioning results of different positioning modes. For example, in PPP positioning, if the horizontal positioning accuracy exceeds 10cm and the duration exceeds 60s, the system judges that the precision satellite orbit, clock, and code deviation products are abnormal. When an abnormality occurs, information query is performed with the SSR correction parameter estimation monitoring terminal P01 through a database based on MYSQL or other forms in the form of an API interface such as post or get, and it is judged that the base station data related to the product monitored by the PPP positioning is abnormal. At the same time, information is exchanged with the SSR correction product monitoring terminal P02 to determine whether there is a problem of product accuracy exceeding the limit or reduced availability. Similarly, different abnormality judgment levels are set according to the different positioning accuracy and abnormal time of PP-AR and PPP-RTK. The level can be set according to the needs of relevant users and the opinions of relevant experts in the industry.

[0052] Step 303: Generate a product service link quality identifier Q-III based on the abnormality assessment results. Q-III is sent to the SSR re-encoding end via UDP multicast in a certain structure. The quality identifier Q-III is composed of a 6-bit integer number. The identification rules are as shown in Table 3:

[0053] Table 3

[0054]

[0055] Wherein, in step S4, the method of the SSR re-encoding terminal P04 for deconstructing and re-encoding the message is as follows: Figure 5 As shown, the details are as follows:

[0056] Step S401: Receive SSR products encoded as RTCM 3 protocol messages in real time via UDP or NTRIP. If the SSR products are encoded as RTCM 3 protocol messages, deconstruct them and extract the corresponding correction structure. For example, in orbit messages, extract the corresponding correction information based on the bit position.

[0057] Step S402: The product data source link quality identifier (QI), product information source link quality identifier (Q-II), and product service link quality identifier (Q-III) are acquired in real time via UDP. To avoid impacting other users' experience and in compliance with the RTCM message encoding protocol, these quality identifiers are appended to the corresponding track message. According to the previous definition, 14 bits are added: bits 1-3 are the quality identifier (QI), bits 4-8 are the quality identifier (Q-II), and bits 9-14 are the quality identifier (Q-III).

[0058] Furthermore, the SSR correction information structure deconstructed in step S401 is re-encoded according to the standard RTCM protocol. After encoding, the number of bits in the corresponding message is further expanded to encode the quality identification information. Finally, the encoded data is broadcast by the server via the internet or satellite.

[0059] User groups are divided into regular users and VIP users. Regular users decode and match standard products to complete positioning, but they cannot obtain the loop monitoring quality indicator and therefore cannot perform positioning quality control. VIP users, on the other hand, can use the user-side algorithm to decode the additional 14-bit quality indicator after parsing the standard product according to the specified encoding protocol. By receiving this quality indicator, VIP users can perform positioning quality control on the user side, thereby improving positioning reliability.

[0060] On the other hand, the present invention provides an enhanced positioning SSR real-time correction number loop monitoring device, which includes various modules that can implement various steps of the above method, specifically, Figure 7 As shown, it includes: SSR correction parameter estimation monitoring terminal P01, SSR correction product monitoring terminal P02, SSR correction product service monitoring terminal P03 and SSR product recoding terminal P04;

[0061] The SSR Correction Parameter Estimation Monitoring Terminal P01 primarily receives data from global, regional, and local reference stations, as well as broadcast ephemeris, and monitors its quality. This monitoring covers indicators such as reference station data integrity, data latency, and observation quality. Furthermore, the SSR Correction Parameter Estimation Monitoring Terminal P01 monitors the operational status of software for satellite orbits, clock errors, and the ionosphere, and annotates the product data source link with a quality indicator (QI).

[0062] The functions of the SSR correction product monitoring terminal P02 are divided into two aspects. On the one hand, it performs differential evaluation of the real-time accuracy of satellite orbits and clock errors by comparing with the products of third-party service centers such as IGS and GFZ. The evaluation period can be selected as a sliding window of 5 minutes or 1 hour. On the other hand, P02 receives and decodes telegram information in real time, obtains data such as time header and number of satellites, monitors the continuity and integrity of the product, and marks the quality identification Q-II of the product information source link.

[0063] The main task of the SSR Correction Product Service Monitoring Terminal P03 is to simulate user usage scenarios, perform positioning by combining base station data with SSR real-time correction products, and calculate real-time positioning accuracy. Specifically, the SSR Correction Product Service Monitoring Terminal P03 selects precise satellite orbit, clock, and code deviation products for real-time PPP positioning to simulate users with elementary positioning accuracy requirements. On this basis, it further selects phase deviation products for real-time PPP-AR positioning to simulate users with medium positioning accuracy requirements. Finally, it selects ionospheric and tropospheric products and related trusted products for high-precision PPP-RTK positioning, and marks the product service link with the quality indicator Q-III.

[0064] The SSR product re-encoding terminal, P04, is responsible for deconstructing and re-encoding SSR messages. After obtaining corrections for satellite orbit, clock error, phase deviation, and ionosphere, it encodes these corrections into SSR messages according to the RTCM-SSR format for broadcast. It also adds quality identifiers (QI, Q-II, and Q-III) to the message. This encoding format complies with RTCM standards.

[0065] Furthermore, when the SSR correction parameter estimation monitoring terminal P01 detects abnormal information, it will use MYSQL or other databases, API interfaces such as post or get to interact with the SSR correction product monitoring terminal P02 and the SSR correction product service monitoring terminal P03 to determine the level of the quality identification QI. Similarly, after the SSR correction product monitoring terminal P02 detects abnormal information, it will interact with the SSR correction parameter estimation monitoring terminal P01 and the SSR correction product service monitoring terminal P03 to determine the level of the quality identification Q-II. The SSR correction product service monitoring terminal P03 also uses the same method to determine the level of the quality identification Q-III. These quality identifications (QI, 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 to make judgments and decisions. It is suitable for monitoring scenarios with clear rules and clear logic in the present invention.

[0066] Based on the above method, the loop monitoring of the data end, product end and service end of the SSR real-time correction number is completed. The process is as follows Figure 6 shown.

[0067] 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 implement the aforementioned enhanced positioning SSR real-time correction number loop monitoring method.

[0068] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned enhanced positioning SSR real-time correction number loop monitoring method.

[0069] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. 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 substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for monitoring the real-time correction loop of enhanced positioning SSR, characterized in that: The method comprises: Step S1, the monitoring terminal performs quality monitoring on the global reference station data, the regional reference station data and the local reference station data through the SSR correction parameter estimation, and generates a data source link quality identifier QI; Step S2: The SSR correction product monitoring terminal compares the accuracy and availability of the independently estimated SSR correction product with the product of the third-party service agency to generate a product information source link quality identifier Q-II; Step S3: Use the SSR correction product service monitoring terminal to simulate user positioning scenarios with different accuracy requirements, evaluate positioning performance, and generate a product service link quality indicator Q-III; Step S4: At the SSR product re-encoding end, the data source link quality identifier QI, 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 broadcast.

2. The method for monitoring the real-time correction number loop of enhanced positioning SSR according to claim 1, wherein: The step 1 comprises: Real-time access to various base station data through NTRIP protocol; Monitor the integrity rate, data delay and observation quality of base station data; A 3-bit integer data source link quality identifier (QI) is generated based on the preset anomaly discrimination rules. Each bit of the 3-bit integer data represents the data anomaly level, the products that may be affected, and whether there is an impact on product quality.

3. The method for monitoring the real-time correction number loop of enhanced positioning SSR according to claim 1, wherein: The step 2 includes: Real-time comparison of orbit RMS accuracy, clock STD accuracy, and ionospheric TECU accuracy of self-estimated SSR products with those of third-party products; When accuracy exceeds the limit or availability is interrupted, it is determined whether the calculated orbit-related reference station data is abnormal, and information is exchanged with the SSR correction product service monitoring terminal to determine whether the accuracy exceeds the limit and affects the positioning service; Different anomaly judgment rules are set according to the differences of different SSR correction products. A 5-bit integer data product information source link quality identifier Q-II is generated according to the anomaly judgment result. Each identification bit of the 5-bit integer data represents the product identification, whether the accuracy is abnormal, whether the availability is abnormal, the cause of the abnormality, and whether it has an impact on product quality.

4. The method for monitoring the real-time correction loop of enhanced positioning SSR according to claim 1, wherein: The step 3 comprises: Set positioning accuracy monitoring thresholds for PPP, PPP-AR, and PPP-RTK positioning modes respectively; When positioning accuracy anomalies are detected, the source of the anomaly is confirmed through interaction with the SSR correction parameter estimation monitoring terminal and the SSR correction product monitoring terminal; A 6-bit integer data product service link quality identifier Q-III is generated based on the abnormality judgment result. Each identifier bit of the 6-bit integer data represents the service impact identifier, service impact level, product identifier, whether the precision is abnormal, whether the availability is abnormal, and whether the data source is abnormal.

5. The method for monitoring the real-time correction loop of enhanced positioning SSR according to claim 1, wherein: The step 4 comprises: Encode SSR corrections according to the RTCM-SSR standard format; 14 bits of quality identification information are appended to the end of the message, where bits 1-3 are the data source link quality identifier QI; bits 4-8 are the product information source link quality identifier Q-II; bits 9-14 are the product service link quality identifier Q-III.

6. The method for monitoring the real-time correction loop of enhanced positioning SSR according to claim 1, characterized in that: The quality identification information is transmitted between each monitoring terminal through UDP multicast; the monitoring data is stored in MySQL database; and the abnormal information interaction between each monitoring terminal is realized through the API interface.

7. The method for monitoring the real-time correction loop of enhanced positioning SSR according to claim 1, characterized in that: Standard SSR messages are broadcast to ordinary users; extended SSR messages containing quality identifiers are broadcast to VIP users; the user end performs positioning quality control based on the received quality identifiers.

8. An enhanced positioning SSR real-time correction number loop monitoring device, characterized in that: It includes SSR correction parameter estimation monitoring terminal, SSR correction product monitoring terminal, SSR correction product service monitoring terminal and SSR product recoding terminal; among them, The SSR correction parameter estimation monitoring terminal performs quality monitoring on the global reference station data, the regional reference station data and the local reference station data, and generates a data source link quality identifier QI; The SSR correction product monitoring terminal performs accuracy comparison and availability monitoring on the independently estimated SSR correction product and the product of the third-party service agency through the SSR correction product monitoring terminal, and generates a product information source link quality identifier Q-II; The SSR correction product service monitoring terminal simulates user positioning scenarios with different accuracy requirements, evaluates positioning performance and generates a product service link quality indicator Q-III; The SSR product re-encoding end encodes the data source link quality identifier QI, the product information source link quality identifier Q-II and the product service link quality identifier Q-III into the SSR message for broadcasting.

9. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs; Wherein, when one or more programs are executed by the one or more processors, the one or more processors implement the enhanced positioning SSR real-time correction number loop monitoring method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that Executable instructions are stored thereon, which, when executed by a processor, enable the processor to implement an enhanced positioning SSR real-time correction number loop monitoring method as described in any one of claims 1-7.

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