Maritime navigation data processing method, device, equipment, medium and program product

Abstract

The invention provides a maritime navigation data processing method, device and equipment, a medium and a program product. According to the method, after to-be-processed maritime navigation data sent by each satellite to each receiver and first historical navigation data and second historical navigation data corresponding to the to-be-processed maritime navigation data are obtained, the to-be-processed maritime navigation data are detected according to the first historical navigation data and the second historical navigation data; and obtaining an anomaly detection result of the to-be-processed maritime navigation data. And generating a filtering matrix according to the anomaly detection result of each piece of to-be-processed maritime navigation data, and filtering all the to-be-processed maritime navigation data to obtain target navigation data. According to the scheme, after the filtering matrix is generated according to the anomaly detection result of the to-be-processed maritime navigation data, all the to-be-processed maritime navigation data are filtered, so that the number of abnormal data in the target navigation data is small, and the accuracy of navigation and single-system correction can be improved.

Description

Technical Field

[0001] The present application relates to the field of maritime navigation technology, and in particular to a maritime navigation data processing method, device, equipment, medium and program product. Background Art

[0002] With the continuous development of science and technology, maritime navigation aids systems have been continuously improved, providing convenience for ship navigation safety, maritime traffic organization, marine environmental protection and other operations in global waters. A maritime navigation aid system is composed of multiple individual systems, which can be either a navigation system or a navigation aid system.

[0003] In existing technology, receivers are installed on ships and monitoring stations to receive maritime navigation data transmitted by satellites within the maritime navigation aids system. Navigation and single-system calibration are then performed directly based on this data. However, due to the potential for anomalies in this data, direct use of this data can result in navigation errors and single-system calibration errors.

[0004] Therefore, there is an urgent need for a maritime navigation data processing method that can process maritime navigation data and reduce the amount of abnormal data. Summary of the Invention

[0005] The maritime navigation data processing method, apparatus, device, medium, and program product provided in the embodiments of the present application are used to process maritime navigation data and reduce the amount of abnormal data.

[0006] In a first aspect, an embodiment of the present application provides a method for processing maritime navigation data, comprising:

[0007] For each satellite and each receiver, obtaining unprocessed maritime navigation data sent by the satellite to the receiver, and first historical navigation data and second historical navigation data corresponding to the unprocessed maritime navigation data;

[0008] For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, to obtain an abnormality detection result of the maritime navigation data to be processed, wherein the abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality;

[0009] Generate a filtering matrix based on the anomaly detection results of each maritime navigation data to be processed;

[0010] All the maritime navigation data to be processed are filtered according to the filter matrix to obtain target navigation data.

[0011] In a possible implementation, the time of receipt of the first historical navigation data corresponding to each maritime navigation data to be processed is the time of receipt immediately before the time of receipt of the maritime navigation data to be processed, and the time length between the second historical navigation data corresponding to each maritime navigation data to be processed and the time of receipt of the maritime navigation data to be processed is one day.

[0012] Each piece of maritime navigation data to be processed, each piece of first historical navigation data and each piece of second historical navigation data includes a signal-to-noise ratio, ephemeris, a pseudorange code and a carrier phase observation.

[0013] In a possible implementation, the detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed to obtain an abnormality detection result of the maritime navigation data to be processed includes:

[0014] calculating an average signal-to-noise ratio based on the signal-to-noise ratios in the to-be-processed maritime navigation data and the first historical navigation data;

[0015] Calculating a first satellite position error based on the maritime navigation data to be processed and the ephemeris in the second historical navigation data;

[0016] Calculating a second satellite position error based on the maritime navigation data to be processed and the ephemeris in the first historical navigation data;

[0017] Calculating an observation quality indicator based on the pseudorange code and carrier phase observations in the to-be-processed maritime navigation data and the first historical navigation data;

[0018] An anomaly detection result of the maritime navigation data to be processed is generated according to the average signal-to-noise, the first satellite position error, the second satellite position error and the observation quality indicator.

[0019] In a possible implementation, generating an anomaly detection result of the to-be-processed maritime navigation data according to the average signal-to-noise, the first satellite position error, the second satellite position error, and the observation quality indicator includes:

[0020] If the average signal-to-noise ratio is greater than a preset signal-to-noise ratio threshold, the first satellite position error is less than a first error threshold, the second satellite position error is less than a second error threshold, and the observation quality indicator is less than a preset quality threshold, then generating an anomaly detection result indicating that there is no anomaly in the maritime navigation data to be processed;

[0021] If the average signal-to-noise ratio is less than or equal to the preset signal-to-noise ratio threshold, or the first satellite position error is greater than or equal to the first error threshold, or the second satellite position error is greater than or equal to the second error threshold, or the observation quality index is greater than or equal to the preset quality threshold, an anomaly detection result is generated indicating that there is an anomaly in the maritime navigation data to be processed.

[0022] In a possible implementation, an element in the filter matrix is 1 or 0. When an element in the filter matrix is 1, it indicates that the maritime navigation data to be processed corresponding to the element has an abnormality. When an element in the filter matrix is 0, it indicates that the maritime navigation data to be processed corresponding to the element does not have an abnormality.

[0023] The filtering of all to-be-processed maritime navigation data according to the filtering matrix to obtain target navigation data includes:

[0024] If only one element in the filter matrix is 1, the to-be-processed maritime navigation data corresponding to the element in all to-be-processed maritime navigation data are removed to obtain the target navigation data;

[0025] If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data sent by the same satellite, then the to-be-processed maritime navigation data sent by the satellite are removed from all the to-be-processed maritime navigation data to obtain the target navigation data;

[0026] If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data received by the same receiver, then the to-be-processed maritime navigation data received by the receiver is removed from all to-be-processed maritime navigation data to obtain the target navigation data;

[0027] If there are multiple elements in the filter matrix that are 1, and the unprocessed maritime navigation data corresponding to the elements that are 1 are data sent by multiple satellites and received by multiple receivers, then the unprocessed maritime navigation data sent by the multiple satellites and the unprocessed maritime navigation data received by the multiple receivers are removed from all the unprocessed maritime navigation data to obtain the target navigation data.

[0028] In one possible implementation, the method further includes:

[0029] For each piece of maritime navigation data to be processed, determining a smoothed pseudorange correction value of the maritime navigation data to be processed according to whether the maritime navigation data to be processed is target navigation data, and the pseudorange code and carrier phase observation in the maritime navigation data to be processed and first historical navigation data corresponding to the maritime navigation data to be processed;

[0030] Calculating the pseudorange error of each target navigation data according to the smoothed pseudorange correction value of each maritime navigation data to be processed;

[0031] The navigation data with pseudorange errors greater than a preset pseudorange error threshold in all target navigation data are eliminated to obtain updated target navigation data.

[0032] In a second aspect, an embodiment of the present application provides a maritime navigation data processing device, comprising:

[0033] an acquisition module, configured to acquire, for each satellite and each receiver, unprocessed maritime navigation data sent by the satellite to the receiver, and first and second historical navigation data corresponding to the unprocessed maritime navigation data;

[0034] Processing module for:

[0035] For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, to obtain an abnormality detection result of the maritime navigation data to be processed, wherein the abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality;

[0036] Generate a filtering matrix based on the anomaly detection results of each maritime navigation data to be processed;

[0037] The filtering module is used to filter all the maritime navigation data to be processed according to the filtering matrix to obtain target navigation data.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0039] Processor, memory, communication interface;

[0040] The memory is used to store executable instructions of the processor;

[0041] Wherein, the processor is configured to execute the maritime navigation data processing method described in any one of the first aspects by executing the executable instructions.

[0042] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the maritime navigation data processing method described in any one of the first aspects is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, is used to implement the maritime navigation data processing method described in any one of the first aspects.

[0044] The maritime navigation data processing method, apparatus, device, medium, and program product provided in the embodiments of the present application obtain the unprocessed maritime navigation data sent by each satellite to each receiver, as well as the first historical navigation data and the second historical navigation data corresponding to the unprocessed maritime navigation data, and then detect the unprocessed maritime navigation data based on the first historical navigation data and the second historical navigation data to obtain an abnormality detection result of the unprocessed maritime navigation data. Then, based on the abnormality detection result of each unprocessed maritime navigation data, a filter matrix is generated, and then all the unprocessed maritime navigation data are filtered to obtain target navigation data. This solution generates a filter matrix based on the abnormality detection result of the unprocessed maritime navigation data and filters all the unprocessed maritime navigation data, so that the number of abnormal data in the target navigation data is small, which can improve the accuracy of navigation and single system correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1a A flowchart of a first embodiment of the maritime navigation data processing method provided in this application;

[0047] Figure 1b Schematic diagram 1 of the filter matrix provided for this application;

[0048] Figure 1c Schematic diagram of the filter matrix provided for this application Figure 2 ;

[0049] Figure 1d Schematic diagram of the filter matrix provided for this application Figure 3 ;

[0050] Figure 1e Schematic diagram of the filter matrix provided for this application Figure 4 ;

[0051] Figure 2 A flowchart of the second embodiment of the maritime navigation data processing method provided in this application;

[0052] Figure 3 A flowchart of the third embodiment of the maritime navigation data processing method provided in this application;

[0053] Figure 4 This is a schematic diagram of the structure of an embodiment of a maritime navigation data processing device provided by this application;

[0054] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application.

[0055] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0057] The terms "first," "second," "third," "fourth," and so forth (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0058] To meet the needs of global maritime navigation safety, maritime traffic organization, marine environmental protection and other business operations, the maritime navigation aids system is constantly being improved. The maritime navigation aids system is composed of multiple individual systems, which can be navigation systems or navigation aids systems.

[0059] Exemplarily, a single system may be a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a Vessel Traffic Service (VTS), an Electronic Chart Display and Information System (ECDIS), an Automatic Identification System (AIS), a Global Maritime Distress and Safety System (GMDSS), a Long Range Identification and Tracking of ships (LRIT), a shipborne compass system, a shipborne radar system, etc.

[0060] For communication between devices using navigation aids, ships can communicate with each other, and between ships and shore-based equipment, via the Very High Frequency Data Exchange System (VDES). Satellites can communicate with receivers via the Maritime Safety Information (MSI) system.

[0061] In existing technology, receivers are installed on ships and monitoring stations to receive maritime navigation data transmitted by satellites in maritime navigation aids systems. Navigation and single-system calibration are then performed directly based on this data. However, due to the potential for anomalies in this data, direct use of this data can result in navigation errors and single-system calibration errors. Therefore, there is an urgent need for a maritime navigation data processing method that can reduce the amount of anomalies and improve the accuracy of navigation and single-system calibration.

[0062] In response to the problems existing in the prior art, the inventors, while researching maritime navigation data processing methods, discovered that satellites transmit unprocessed maritime navigation data to receivers. To identify abnormal data within this data, they can test it against historical navigation data to obtain detection results. A filter matrix is then generated based on the detection results, and all unprocessed maritime navigation data is filtered to obtain target navigation data. Using the target navigation data for navigation and single-system correction can improve the accuracy of navigation and single-system correction. Based on these inventive concepts, the maritime navigation data processing solution presented in this application was designed.

[0063] The execution subject of the maritime navigation data processing method in this application can be a server, or a computer, a receiver, etc. This application does not limit it. The following description will be made using a server as an example.

[0064] The following is an example of an application scenario of the maritime navigation data processing method provided in this application.

[0065] For example, in this application scenario, a maritime navigation system consists of multiple satellites, and receivers are installed on ships and monitoring stations. The satellites transmit maritime navigation data to the receivers. A ship traveling in the ocean requires maritime navigation data for navigation.

[0066] After the satellite transmits the maritime navigation data, in order to determine whether the maritime navigation data can be used for navigation, all receivers, after receiving the maritime navigation data transmitted by the satellite, transmit the data as to-be-processed maritime navigation data to the server.

[0067] After receiving the maritime navigation data to be processed, the server needs to obtain the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed in order to filter out abnormal data therein.

[0068] The server then detects each piece of maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, and obtains an anomaly detection result of the maritime navigation data to be processed, where the anomaly detection result is used to indicate whether there is an anomaly in the maritime navigation data to be processed.

[0069] The server then generates a filter matrix based on the anomaly detection results of each piece of maritime navigation data to be processed. Based on the filter matrix, all the maritime navigation data to be processed are filtered to obtain the target navigation data.

[0070] The server sends the target navigation data to the receiver. If the receiver determines that the unprocessed maritime navigation data it has received is the target navigation data, it navigates based on the unprocessed maritime navigation data. If the receiver determines that the unprocessed maritime navigation data it has received is not the target navigation data, it does not navigate based on the unprocessed maritime navigation data.

[0071] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, nor does it limit the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0072] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0073] Figure 1a This is a flow chart of the first embodiment of the maritime navigation data processing method provided by this application. This embodiment of the application describes the situation where the server filters the maritime navigation data to be processed based on historical navigation data. The method in this embodiment can be implemented by software, hardware, or a combination of software and hardware. Figure 1a As shown, the maritime navigation data processing method specifically includes the following steps:

[0074] S101: For each satellite and each receiver, obtain unprocessed maritime navigation data sent by the satellite to the receiver, and first historical navigation data and second historical navigation data corresponding to the unprocessed maritime navigation data.

[0075] In this step, after the satellite sends the navigation data to be filtered to the receiver, in order to remove the abnormal data therein, the server needs to obtain the unprocessed maritime navigation data sent by the satellite to the receiver for each satellite and each receiver, as well as the first historical navigation data and the second historical navigation data corresponding to the unprocessed maritime navigation data.

[0076] The time of receipt of the first historical navigation data corresponding to each unprocessed maritime navigation data is the time of receipt immediately preceding the time of receipt of the unprocessed maritime navigation data. The time between the time of receipt of the second historical navigation data corresponding to each unprocessed maritime navigation data and the time of receipt of the unprocessed maritime navigation data is one day. The time of receipt refers to the time when the receiver receives the data.

[0077] For example, the time of receipt of the to-be-processed maritime navigation data is 9:20 a.m. on October 10, 2024. The time of receipt of the maritime navigation data sent by the satellite by the receiver is 9:10 a.m. on October 10, 2024. The last maritime navigation data received by the receiver from the satellite is the first historical navigation data. The maritime navigation data sent by the satellite received by the receiver at 9:20 a.m. on October 9, 2024 is the second historical navigation data.

[0078] It should be noted that each maritime navigation data to be processed, each first historical navigation data and each second historical navigation data includes a signal-to-noise ratio, ephemeris, pseudorange code, carrier phase observation, etc. The embodiment of the present application does not limit the maritime navigation data to be processed, the first historical navigation data and the second historical navigation data, and can be determined according to actual conditions.

[0079] S102: For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed according to the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, and obtaining an abnormality detection result of the maritime navigation data to be processed.

[0080] In this step, after obtaining the processed maritime navigation data and the first historical navigation data and the second historical navigation data corresponding thereto, in order to determine whether the maritime navigation data to be processed has an abnormality, the server performs a detection on each maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding thereto, and obtains an abnormality detection result for the maritime navigation data to be processed. The abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality.

[0081] The average signal-to-noise ratio, satellite position error and observation quality index can be calculated based on the maritime navigation data to be processed and its corresponding first historical navigation data and second historical navigation data, and then compared with the corresponding thresholds to generate anomaly detection results.

[0082] S103: Generate a filter matrix according to the anomaly detection result of each maritime navigation data to be processed.

[0083] In this step, after determining the anomaly detection result of each maritime navigation data to be processed, the server generates a filter matrix according to the anomaly detection result of each maritime navigation data to be processed.

[0084] The rows in the filter matrix represent satellites and the columns represent receivers, and the elements Corresponding to the pending maritime navigation data sent by the i-th satellite to the j-th receiver. The elements in the filter matrix are either 1 or 0. When the element in the filter matrix is 1, it indicates that the corresponding pending maritime navigation data has an anomaly. When the element in the filter matrix is 0, it indicates that the corresponding pending maritime navigation data has no anomaly.

[0085] For example, Figure 1b A schematic diagram of the filter matrix provided for this application is shown in FIG. Figure 1b As shown, the filter matrix has 4 rows and 4 columns, representing 4 satellites and 4 receivers. The elements in the 2nd row, 3rd column, 3rd row, 2nd column, and 3rd row, 3rd column are 1, indicating that the pending maritime navigation data sent by the 2nd satellite to the 3rd receiver, the pending maritime navigation data sent by the 3rd satellite to the 2nd receiver, and the pending maritime navigation data sent by the 3rd satellite to the 3rd receiver are abnormal. All other elements are 0, indicating that the corresponding pending maritime navigation data are normal.

[0086] It should be noted that Figure 1b This is only an example of the filtering matrix. The embodiment of the present application does not limit the number of satellites and receivers, which can be determined according to actual conditions.

[0087] It should be noted that the filter matrix may also have rows representing receivers and columns representing satellites.

[0088] S104: Filter all the maritime navigation data to be processed according to the filter matrix to obtain target navigation data.

[0089] In this step, after obtaining the filter matrix, the server filters all the maritime navigation data to be processed according to the filter matrix to obtain the target navigation data.

[0090] Specifically, if only one element in the filter matrix is 1, the to-be-processed maritime navigation data corresponding to the element in all to-be-processed maritime navigation data are eliminated to obtain the target navigation data.

[0091] For example, Figure 1c Schematic diagram of the filter matrix provided for this application Figure 2 ,like Figure 1c As shown in the figure, the filter matrix has 4 rows and 4 columns, indicating 4 satellites and 4 receivers. In the filter matrix, only the element in the 2nd row and 3rd column is 1, while the rest are 0. This indicates that only the unprocessed maritime navigation data sent by the 2nd satellite to the 3rd receiver is abnormal. This unprocessed maritime navigation data is removed from all unprocessed maritime navigation data, and the remaining unprocessed maritime navigation data are all target navigation data.

[0092] If there are multiple elements in the filter matrix that are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data sent by the same satellite, it means that there is an abnormality in the satellite. In this case, the to-be-processed maritime navigation data sent by the satellite are removed from all the to-be-processed maritime navigation data to obtain the target navigation data.

[0093] For example, Figure 1d Schematic diagram of the filter matrix provided for this application Figure 3 ,like Figure 1d As shown in Figure 1, the filter matrix has 4 rows and 4 columns, indicating 4 satellites and 4 receivers. The elements in row 2, column 2 and row 2, column 3 of the filter matrix are 1, while the remaining elements are 0. This indicates that satellite 2 is abnormal. The unprocessed maritime navigation data sent by this satellite is removed from all unprocessed maritime navigation data. The remaining unprocessed maritime navigation data is the target navigation data.

[0094] If there are multiple elements in the filter matrix that are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data received by the same receiver, it means that there is an abnormality in the receiver. Then, the to-be-processed maritime navigation data received by the receiver is removed from all the to-be-processed maritime navigation data to obtain the target navigation data.

[0095] For example, Figure 1e Schematic diagram of the filter matrix provided for this application Figure 4 ,like Figure 1e As shown in Figure 1, the filter matrix has 4 rows and 4 columns, indicating 4 satellites and 4 receivers. The elements in the 2nd row, 3rd column and the 3rd row, 3rd column of the filter matrix are 1, while the remaining elements are 0, indicating an anomaly in the third receiver. The unprocessed maritime navigation data received by this receiver is removed from all the unprocessed maritime navigation data. The remaining unprocessed maritime navigation data is the target navigation data.

[0096] If there are multiple elements in the filter matrix that are 1, and the unprocessed maritime navigation data corresponding to the elements that are 1 are data sent by multiple satellites and received by multiple receivers, it means that there are abnormalities in these satellites and receivers. Then, the unprocessed maritime navigation data sent by multiple satellites and the unprocessed maritime navigation data received by multiple receivers are removed from all the unprocessed maritime navigation data to obtain the target navigation data.

[0097] For example, in Figure 1bOn the basis of the above, the elements in the 2nd row and 3rd column, the elements in the 3rd row and 2nd column, and the elements in the 3rd row and 3rd column in the filter matrix are 1, and the rest of the elements are 0, indicating that the 2nd satellite, the 3rd satellite, the 2nd receiver, and the 3rd receiver are abnormal. The unprocessed maritime navigation data sent by the 2nd satellite and the 3rd satellite, as well as the unprocessed maritime navigation data received by the 2nd receiver and the 3rd receiver are removed from all the unprocessed maritime navigation data, and the remaining unprocessed maritime navigation data are all target navigation data.

[0098] The maritime navigation data processing method provided in this embodiment obtains the unprocessed maritime navigation data transmitted by each satellite to each receiver, as well as the first and second historical navigation data corresponding to the unprocessed maritime navigation data. The unprocessed maritime navigation data is then tested based on the first and second historical navigation data to obtain anomaly detection results for the unprocessed maritime navigation data. A filter matrix is then generated based on the anomaly detection results for each unprocessed maritime navigation data, and all unprocessed maritime navigation data is then filtered to obtain target navigation data. This method generates a filter matrix based on the anomaly detection results for the unprocessed maritime navigation data and filters all unprocessed maritime navigation data, thereby reducing the amount of anomaly data in the target navigation data and improving the accuracy of navigation and single-system correction.

[0099] Figure 2 This is a flow chart of the second embodiment of the maritime navigation data processing method provided by this application. Based on the above embodiment, this embodiment of the application describes the situation where the server detects the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data and obtains an abnormal detection result. Figure 2 As shown, the maritime navigation data processing method specifically includes the following steps:

[0100] S201: Calculating an average signal-to-noise ratio according to the signal-to-noise ratios of the maritime navigation data to be processed and the first historical navigation data.

[0101] In this step, after the server obtains the maritime navigation data to be processed and its corresponding first historical navigation data and second historical navigation data, in order to detect whether there is an abnormality in the maritime navigation data to be processed, it is necessary to calculate the average signal-to-noise ratio based on the signal-to-noise ratios in the maritime navigation data to be processed and the first historical navigation data.

[0102] An average of the signal-to-noise ratios of the to-be-processed maritime navigation data and the first historical navigation data is taken as the average signal-to-noise ratio.

[0103] S202: Calculate a first satellite position error based on the maritime navigation data to be processed and the ephemeris in the second historical navigation data.

[0104] In this step, after the server obtains the maritime navigation data to be processed and its corresponding first historical navigation data and second historical navigation data, in order to detect whether there is any abnormality in the maritime navigation data to be processed, it is necessary to calculate the first satellite position error based on the ephemeris in the maritime navigation data to be processed and the second historical navigation data.

[0105] Specifically, the first satellite coordinates (x1, y1, z1) are calculated based on the ephemeris in the maritime navigation data to be processed, and the second satellite coordinates (x2, y2, z2) are calculated based on the ephemeris in the second historical navigation data.

[0106] Then, the absolute value of the difference between x1 and x2 is calculated as the first component, the absolute value of the difference between y1 and y2 is calculated as the second component, the absolute value of the difference between z1 and z2 is calculated as the third component, and the first component, the second component and the third component are calculated as the first satellite position error.

[0107] S203: Calculate a second satellite position error based on the maritime navigation data to be processed and the ephemeris in the first historical navigation data.

[0108] In this step, after the server obtains the maritime navigation data to be processed and its corresponding first historical navigation data and second historical navigation data, in order to detect whether there is any abnormality in the maritime navigation data to be processed, it is necessary to calculate the second satellite position error based on the ephemeris in the maritime navigation data to be processed and the first historical navigation data.

[0109] Specifically, the third satellite coordinates are calculated based on the ephemeris in the maritime navigation data to be processed, and the fourth satellite coordinates are calculated based on the ephemeris in the first historical navigation data.

[0110] Then, the distance between the third satellite coordinates and the fourth satellite coordinates is calculated as the second satellite position error.

[0111] S204: Calculate an observation quality indicator based on the pseudo-range code and carrier phase observations in the maritime navigation data to be processed and the first historical navigation data.

[0112] In this step, after the server obtains the maritime navigation data to be processed and its corresponding first historical navigation data and second historical navigation data, in order to detect whether there is any abnormality in the maritime navigation data to be processed, it is necessary to calculate the observation quality index based on the pseudorange code and carrier phase observation in the maritime navigation data to be processed and the first historical navigation data.

[0113] The observation quality index is used to characterize the quality of maritime navigation data. The smaller the observation quality index, the better the quality of maritime navigation data.

[0114] Specifically, according to the formula , calculate the smoothed pseudorange. Among them, , m represents the mth receiver, n represents the nth satellite, represents the smoothed pseudorange in the processed maritime navigation data to be sent by the nth satellite to the mth receiver, N is a preset constant, and N represents the ratio of the smoothing filter time constant to the sampling interval of the original observation. represents the pseudorange code in the processed maritime navigation data to be sent by the nth satellite to the mth receiver, represents the carrier phase observation in the processed maritime navigation data to be sent by the nth satellite to the mth receiver, represents the carrier phase observation in the first historical navigation data to be sent by the nth satellite to the mth receiver, It represents the smoothed pseudorange obtained by the server during the detection of the first historical navigation data.

[0115] Then according to the formula , calculate the observation quality index, where, Represents the observation quality indicator.

[0116] It should be noted that the order of calculating the average signal-to-noise ratio, the first satellite position error, the second satellite position error, and the observation quality index can be: average signal-to-noise ratio, the first satellite position error, the second satellite position error, and the observation quality index; it can also be: average signal-to-noise ratio, the second satellite position error, the observation quality index, and the first satellite position error; it can also be: second satellite position error, observation quality index, average signal-to-noise ratio, and the first satellite position error, etc. The embodiment of the present application does not limit the order of calculating the average signal-to-noise ratio, the first satellite position error, the second satellite position error, and the observation quality index, and can be determined according to actual conditions.

[0117] S205: Generate an anomaly detection result of the maritime navigation data to be processed based on the average signal-to-noise, the first satellite position error, the second satellite position error, and the observation quality indicator.

[0118] In this step, after obtaining the average signal-to-noise, the first satellite position error, the second satellite position error and the observation quality index, the server generates an anomaly detection result of the maritime navigation data to be processed based on the average signal-to-noise, the first satellite position error, the second satellite position error and the observation quality index.

[0119] Specifically, if the average signal-to-noise ratio is greater than a preset signal-to-noise ratio threshold, the first satellite position error is less than a first error threshold, the second satellite position error is less than a second error threshold, and the observation quality index is less than a preset quality threshold, an anomaly detection result is generated indicating that there is no anomaly in the maritime navigation data to be processed.

[0120] If the average signal-to-noise ratio is less than or equal to a preset signal-to-noise ratio threshold, or the first satellite position error is greater than or equal to a first error threshold, or the second satellite position error is greater than or equal to a second error threshold, or the observation quality index is greater than or equal to a preset quality threshold, an anomaly detection result is generated indicating that there is an anomaly in the maritime navigation data to be processed.

[0121] It should be noted that the first satellite position error includes a first component, a second component, and a third component. "The first satellite position error is less than the first error threshold" means that the first component, the second component, and the third component are all less than the first error threshold. "The first satellite position error is greater than or equal to the first error threshold" means that at least one of the first component, the second component, and the third component is greater than or equal to the first error threshold.

[0122] It should be noted that the preset signal-to-noise ratio threshold may be -130dB, -136dB, -150dB, etc., the first error threshold may be 200 meters, 250 meters, 300 meters, etc., the second error threshold may be 200 meters, 250 meters, 300 meters, etc., the preset quality threshold may be 100, 500, 700, etc. The embodiment of the present application does not limit the preset quality threshold and can be determined according to actual conditions.

[0123] The maritime navigation data processing method provided in this embodiment determines the anomaly detection result of the maritime navigation data to be processed by calculating the average signal-to-noise ratio, the first satellite position error, the second satellite position error and the observation quality index, thereby improving the detection accuracy.

[0124] Figure 3 This is a flow chart of the third embodiment of the maritime navigation data processing method provided by this application. Based on the above embodiment, this embodiment of the application describes the situation where the server calculates the pseudo-range error of the target navigation data and then filters the target navigation data. Figure 3 As shown, the maritime navigation data processing method specifically includes the following steps:

[0125] S301: For each piece of maritime navigation data to be processed, determine a smoothed pseudorange correction value for the maritime navigation data to be processed based on whether the maritime navigation data to be processed is target navigation data, and the pseudorange code and carrier phase observations in the maritime navigation data to be processed and first historical navigation data corresponding to the maritime navigation data to be processed.

[0126] In this step, after the server obtains the target navigation data, in order to determine whether there is abnormal data caused by a receiver failure in the target navigation data, it is necessary to first determine the smoothed pseudorange correction value of each maritime navigation data to be processed based on whether the maritime navigation data to be processed is the target navigation data, and the pseudorange code and carrier phase observation in the first historical navigation data corresponding to the maritime navigation data to be processed.

[0127] Specifically, if the maritime navigation data to be processed is not target navigation data, the smoothed pseudorange correction value of the maritime navigation data to be processed is determined to be 0.

[0128] If the maritime navigation data to be processed is the target navigation data, first use the formula , calculate the smoothed pseudorange. Among them, , represents the smoothed pseudorange of the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, N is a preset constant, and N represents the ratio of the smoothing filter time constant to the sampling interval of the original observation. represents the pseudorange code in the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, represents the carrier phase observation in the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, represents the carrier phase observation in the first historical navigation data to be sent by the nth satellite to the mth receiver, It represents the smoothed pseudorange obtained by the server during the detection of the first historical navigation data.

[0129] Then according to the formula , calculate the smoothed pseudorange correction value. Among them, represents the smoothed pseudorange correction value of the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, Indicates the actual distance from the reference receiver antenna to the satellite, calculated based on the known reference antenna position and broadcast ephemeris. Indicates the preset satellite clock correction value calculated based on the satellite clock correction parameters in the satellite ephemeris.

[0130] S302: Calculate the pseudorange error of each target navigation data according to the smoothed pseudorange correction value of each maritime navigation data to be processed.

[0131] In this step, after determining the smoothed pseudorange correction value, the server calculates the pseudorange error of each target navigation data according to the smoothed pseudorange correction value of each maritime navigation data to be processed.

[0132] Specifically, for each maritime navigation data to be processed, according to the formula , calculate the correction value to remove the receiver clock error. Among them, represents the correction value of the receiver clock error removed from the maritime navigation data to be sent by the nth satellite to the mth receiver. represents the smoothed pseudorange correction value of the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, represents the receiver that receives the maritime navigation data to be processed, that is, the set of satellites that the mth receiver can track, express The number of elements in .

[0133] Then according to the formula , calculate the pseudorange error. Among them, represents the pseudorange error of the unprocessed maritime navigation data to be sent by the nth satellite to the mth receiver, Indicates the satellite that sends the maritime navigation data to be processed, that is, the set of receivers that the nth satellite can connect to. express The number of elements in .

[0134] The server obtains the pseudo-range error of each maritime navigation data to be sent and processed, and the interface obtains the pseudo-range error of the target navigation data.

[0135] S303: Eliminate navigation data with pseudorange errors greater than a preset pseudorange error threshold from all target navigation data to obtain updated target navigation data.

[0136] In this step, after obtaining the pseudorange error of the target navigation data, the server removes navigation data with pseudorange errors greater than a preset pseudorange error threshold from all target navigation data to obtain updated target navigation data.

[0137] If the pseudorange error of a target navigation data is greater than a preset pseudorange error threshold, it indicates that the target navigation data is abnormal data caused by a receiver failure.

[0138] It should be noted that the preset pseudorange error threshold may be 3, 10, 50, 100, etc. The embodiment of the present application does not limit the preset pseudorange error threshold, and it may be determined according to actual conditions.

[0139] It should be noted that the server may use the updated target navigation data as new target navigation data and repeat steps S301-S303 until the pseudorange error of each target navigation data is less than or equal to a preset pseudorange error threshold, or until the number of target navigation data is less than a preset number. The preset number may be 100, 200, 1000, 10,000, 100,000, etc. This embodiment of the application does not limit the preset number and may be determined based on actual circumstances.

[0140] It should be noted that, when the server sends the updated target navigation data to the receiver, it can also send the calculated average correction value of each satellite for correcting the single system.

[0141] The formula can be used , calculate the average correction value of the nth satellite.

[0142] The maritime navigation data processing method provided in this embodiment filters target navigation data through pseudorange errors, further reducing the amount of abnormal data and improving the accuracy of navigation and single-system correction.

[0143] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0144] Figure 4 This is a schematic diagram of the structure of an embodiment of the maritime navigation data processing device provided by this application. Figure 4 As shown, the maritime navigation data processing device 40 includes:

[0145] An acquisition module 41 is configured to acquire, for each satellite and each receiver, unprocessed maritime navigation data sent by the satellite to the receiver, and first and second historical navigation data corresponding to the unprocessed maritime navigation data;

[0146] The processing module 42 is configured to:

[0147] For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, to obtain an abnormality detection result of the maritime navigation data to be processed, wherein the abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality;

[0148] Generate a filtering matrix based on the anomaly detection results of each maritime navigation data to be processed;

[0149] The filtering module 43 is used to filter all the maritime navigation data to be processed according to the filtering matrix to obtain target navigation data.

[0150] Furthermore, the reception time of the first historical navigation data corresponding to each maritime navigation data to be processed is the reception time immediately before the reception time of the maritime navigation data to be processed, and the time length between the second historical navigation data corresponding to each maritime navigation data to be processed and the reception time of the maritime navigation data to be processed is one day;

[0151] Each piece of maritime navigation data to be processed, each piece of first historical navigation data and each piece of second historical navigation data includes a signal-to-noise ratio, ephemeris, a pseudorange code and a carrier phase observation.

[0152] Furthermore, the processing module 42 is specifically configured to:

[0153] calculating an average signal-to-noise ratio based on the signal-to-noise ratios in the to-be-processed maritime navigation data and the first historical navigation data;

[0154] Calculating a first satellite position error based on the maritime navigation data to be processed and the ephemeris in the second historical navigation data;

[0155] Calculating a second satellite position error based on the maritime navigation data to be processed and the ephemeris in the first historical navigation data;

[0156] Calculating an observation quality indicator based on the pseudorange code and carrier phase observations in the to-be-processed maritime navigation data and the first historical navigation data;

[0157] An anomaly detection result of the maritime navigation data to be processed is generated according to the average signal-to-noise, the first satellite position error, the second satellite position error and the observation quality indicator.

[0158] Furthermore, the processing module 42 is further configured to:

[0159] If the average signal-to-noise ratio is greater than a preset signal-to-noise ratio threshold, the first satellite position error is less than a first error threshold, the second satellite position error is less than a second error threshold, and the observation quality indicator is less than a preset quality threshold, then generating an anomaly detection result indicating that there is no anomaly in the maritime navigation data to be processed;

[0160] If the average signal-to-noise ratio is less than or equal to the preset signal-to-noise ratio threshold, or the first satellite position error is greater than or equal to the first error threshold, or the second satellite position error is greater than or equal to the second error threshold, or the observation quality index is greater than or equal to the preset quality threshold, an anomaly detection result is generated indicating that there is an anomaly in the maritime navigation data to be processed.

[0161] Furthermore, the elements in the filter matrix are 1 or 0. When the element in the filter matrix is 1, it indicates that the maritime navigation data to be processed corresponding to the element has an abnormality. When the element in the filter matrix is 0, it indicates that the maritime navigation data to be processed corresponding to the element does not have an abnormality. The filtering module 43 is specifically used to:

[0162] If only one element in the filter matrix is 1, the to-be-processed maritime navigation data corresponding to the element in all to-be-processed maritime navigation data are removed to obtain the target navigation data;

[0163] If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data sent by the same satellite, then the to-be-processed maritime navigation data sent by the satellite are removed from all the to-be-processed maritime navigation data to obtain the target navigation data;

[0164] If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data received by the same receiver, then the to-be-processed maritime navigation data received by the receiver is removed from all to-be-processed maritime navigation data to obtain the target navigation data;

[0165] If there are multiple elements in the filter matrix that are 1, and the unprocessed maritime navigation data corresponding to the elements that are 1 are data sent by multiple satellites and received by multiple receivers, then the unprocessed maritime navigation data sent by the multiple satellites and the unprocessed maritime navigation data received by the multiple receivers are removed from all the unprocessed maritime navigation data to obtain the target navigation data.

[0166] Furthermore, the processing module 42 is further configured to:

[0167] For each piece of maritime navigation data to be processed, determining a smoothed pseudorange correction value of the maritime navigation data to be processed according to whether the maritime navigation data to be processed is target navigation data, and the pseudorange code and carrier phase observation in the maritime navigation data to be processed and first historical navigation data corresponding to the maritime navigation data to be processed;

[0168] Calculating the pseudorange error of each target navigation data according to the smoothed pseudorange correction value of each maritime navigation data to be processed;

[0169] The filtering module 43 is further configured to remove navigation data with pseudorange errors greater than a preset pseudorange error threshold from all target navigation data to obtain updated target navigation data.

[0170] The maritime navigation data processing device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be described in detail here.

[0171] Figure 5 This is a schematic diagram of the structure of an electronic device provided by this application. Figure 5 As shown, the electronic device 50 includes:

[0172] Processor 51, memory 52, and communication interface 53;

[0173] The memory 52 is used to store executable instructions of the processor 51;

[0174] The processor 51 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0175] Optionally, the memory 52 can be independent or integrated with the processor 51.

[0176] Optionally, when the memory 52 is a device independent of the processor 51, the electronic device 50 may further include:

[0177] The bus 54 , the memory 52 and the communication interface 53 are connected to the processor 51 via the bus 54 and communicate with each other. The communication interface 53 is used to communicate with other devices.

[0178] Optionally, the communication interface 53 may be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0179] Bus 54 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure uses only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0180] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0181] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0182] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the technical solution provided by any of the aforementioned method embodiments.

[0183] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solution provided by any of the aforementioned method embodiments.

[0184] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for processing maritime navigation data, characterized in that: include: For each satellite and each receiver, obtaining unprocessed maritime navigation data sent by the satellite to the receiver, and first historical navigation data and second historical navigation data corresponding to the unprocessed maritime navigation data; For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, to obtain an abnormality detection result of the maritime navigation data to be processed, wherein the abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality; Generate a filtering matrix based on the anomaly detection results of each maritime navigation data to be processed; All the maritime navigation data to be processed are filtered according to the filter matrix to obtain target navigation data.

2. The method according to claim 1, characterized in that The time of receiving the first historical navigation data corresponding to each to-be-processed maritime navigation data is the time of receiving the first historical navigation data preceding the time of receiving the to-be-processed maritime navigation data, and the time between the time of receiving the second historical navigation data corresponding to each to-be-processed maritime navigation data and the time of receiving the to-be-processed maritime navigation data is one day; Each piece of maritime navigation data to be processed, each piece of first historical navigation data and each piece of second historical navigation data includes a signal-to-noise ratio, ephemeris, a pseudorange code and a carrier phase observation.

3. The method according to claim 2, characterized in that The detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed to obtain an abnormality detection result of the maritime navigation data to be processed includes: calculating an average signal-to-noise ratio based on the signal-to-noise ratios in the to-be-processed maritime navigation data and the first historical navigation data; Calculating a first satellite position error based on the maritime navigation data to be processed and the ephemeris in the second historical navigation data; Calculating a second satellite position error based on the maritime navigation data to be processed and the ephemeris in the first historical navigation data; Calculating an observation quality indicator based on the pseudorange code and carrier phase observations in the to-be-processed maritime navigation data and the first historical navigation data; An anomaly detection result of the maritime navigation data to be processed is generated according to the average signal-to-noise, the first satellite position error, the second satellite position error and the observation quality indicator.

4. The method according to claim 3, characterized in that Generating an anomaly detection result of the to-be-processed maritime navigation data according to the average signal-to-noise, the first satellite position error, the second satellite position error, and the observation quality indicator includes: If the average signal-to-noise ratio is greater than a preset signal-to-noise ratio threshold, the first satellite position error is less than a first error threshold, the second satellite position error is less than a second error threshold, and the observation quality indicator is less than a preset quality threshold, then generating an anomaly detection result indicating that there is no anomaly in the maritime navigation data to be processed; If the average signal-to-noise ratio is less than or equal to the preset signal-to-noise ratio threshold, or the first satellite position error is greater than or equal to the first error threshold, or the second satellite position error is greater than or equal to the second error threshold, or the observation quality index is greater than or equal to the preset quality threshold, an anomaly detection result is generated indicating that there is an anomaly in the maritime navigation data to be processed.

5. The method according to any one of claims 1 to 4, characterized in that The elements in the filter matrix are 1 or 0. When the element in the filter matrix is 1, it indicates that the maritime navigation data to be processed corresponding to the element has an abnormality. When the element in the filter matrix is 0, it indicates that the maritime navigation data to be processed corresponding to the element does not have an abnormality. The filtering of all to-be-processed maritime navigation data according to the filtering matrix to obtain target navigation data includes: If only one element in the filter matrix is 1, the to-be-processed maritime navigation data corresponding to the element in all to-be-processed maritime navigation data are removed to obtain the target navigation data; If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data sent by the same satellite, then the to-be-processed maritime navigation data sent by the satellite are removed from all the to-be-processed maritime navigation data to obtain the target navigation data; If multiple elements in the filter matrix are 1, and the to-be-processed maritime navigation data corresponding to the elements that are 1 are data received by the same receiver, then the to-be-processed maritime navigation data received by the receiver is removed from all to-be-processed maritime navigation data to obtain the target navigation data; If there are multiple elements in the filter matrix that are 1, and the unprocessed maritime navigation data corresponding to the elements that are 1 are data sent by multiple satellites and received by multiple receivers, then the unprocessed maritime navigation data sent by the multiple satellites and the unprocessed maritime navigation data received by the multiple receivers are removed from all the unprocessed maritime navigation data to obtain the target navigation data.

6. The method according to claim 2, characterized in that The method further comprises: For each piece of maritime navigation data to be processed, determining a smoothed pseudorange correction value of the maritime navigation data to be processed according to whether the maritime navigation data to be processed is target navigation data, and the pseudorange code and carrier phase observation in the maritime navigation data to be processed and first historical navigation data corresponding to the maritime navigation data to be processed; Calculating the pseudorange error of each target navigation data according to the smoothed pseudorange correction value of each maritime navigation data to be processed; The navigation data with pseudorange errors greater than a preset pseudorange error threshold in all target navigation data are eliminated to obtain updated target navigation data.

7. A maritime navigation data processing device, characterized in that: include: an acquisition module, configured to acquire, for each satellite and each receiver, maritime navigation data to be processed sent by the satellite to the receiver, and first historical navigation data and second historical navigation data corresponding to the maritime navigation data to be processed; Processing module for: For each piece of maritime navigation data to be processed, detecting the maritime navigation data to be processed based on the first historical navigation data and the second historical navigation data corresponding to the maritime navigation data to be processed, to obtain an abnormality detection result of the maritime navigation data to be processed, wherein the abnormality detection result is used to indicate whether the maritime navigation data to be processed has an abnormality; Generate a filtering matrix based on the anomaly detection results of each maritime navigation data to be processed; The filtering module is used to filter all the maritime navigation data to be processed according to the filtering matrix to obtain target navigation data.

8. An electronic device, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; The processor is configured to execute the maritime navigation data processing method according to any one of claims 1 to 6 by executing the executable instructions.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the maritime navigation data processing method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The method comprises a computer program, which is used to implement the maritime navigation data processing method according to any one of claims 1 to 6 when executed by a processor.

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