Ionospheric disturbance space-time positioning method and device for GNSS satellite sounding, and sounding equipment

Abstract

The application relates to the technical field of GNSS satellite monitoring and ionospheric monitoring, and discloses a method for spatiotemporal positioning of ionospheric disturbance for GNSS satellite detection, which comprises the following steps: simulating the depletion effect based on an ionospheric physical model to obtain a model simulation result; obtaining ionospheric disturbance characteristics according to the positions of ground station receivers and different GNSS satellites and the model simulation result; determining a piercing point calculation time and a piercing point position at the piercing point calculation time according to the ionospheric disturbance characteristics; and realizing disturbance spatiotemporal positioning through fitting of effective piercing point positions; wherein the effective piercing point positions are determined by piercing point positions satisfying disturbance conditions. The method realizes accurate positioning of effective piercing points by detecting ionospheric disturbance characteristics of ionospheric disturbance regions, and is beneficial to improving the accuracy and reliability of ionospheric disturbance spatiotemporal monitoring. The application further discloses an ionospheric disturbance spatiotemporal positioning device for GNSS satellite detection and a detection equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of GNSS (Global Navigation Satellite System) satellite monitoring and ionospheric monitoring, for example to a method and device for spatiotemporal positioning of ionospheric disturbances for GNSS satellite detection, and a detection device. BACKGROUND

[0002] At present, in the field of GNSS satellite monitoring, it has great reference value to construct a new technology for spatiotemporal positioning and detection of ionospheric disturbances and a monitoring system. The patent with publication number CN116150573A discloses a method for identifying and risk warning of disturbed GNSS satellites based on GISM ephemeris ionospheric scintillation process, which comprises the following steps: S1: using ionospheric scintillation spatiotemporal domain characteristic data to construct an ionospheric scintillation spatial distribution grid and a scintillation intensity level; S2: calculating the piercing point position of the GNSS satellite through geometric relationship, and matching it with the ionospheric scintillation spatial position obtained in S1 to identify the disturbed GNSS satellite; wherein the geometric relationship represents the spatial geometric relationship between the GNSS receiver antenna, the GNSS satellite, the ionosphere and the scintillation piercing point; S3: risk warning of the disturbed GNSS satellite.

[0003] In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

[0004] The star-ground link and the star-star link change in real time, and the related parameters of the ionospheric disturbance region detected and obtained based on the star-ground link and / or the star-star link also change. The above patent only calculates the piercing point position through spatial geometric relationship, without considering the influence of the parameter change of the ionospheric disturbance region on the piercing point position calculation, resulting in inaccurate piercing point positioning, and further affecting the accuracy and reliability of the ionospheric disturbance spatiotemporal monitoring. SUMMARY

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an overall description of the application, nor is it intended to determine key / important elements or delineate the scope of these embodiments. It is intended to serve as a prelude to the detailed description below.

[0006] The embodiments of the present disclosure provide a method and device for spatiotemporal positioning of ionospheric disturbances for GNSS satellite detection, and a detection device, to realize accurate positioning of effective piercing points by detecting ionospheric disturbance characteristics of the ionospheric disturbance region, and to improve the accuracy and reliability of ionospheric disturbance spatiotemporal monitoring.

[0007] In some embodiments, the method includes: simulating the depletion effect based on an ionospheric physical model and obtaining the model simulation results; obtaining ionospheric disturbance characteristics based on the location of the ground station receiver, the locations of different GNSS satellites, and the model simulation results; determining the puncture point calculation time and the puncture point location at the puncture point calculation time based on the ionospheric disturbance characteristics; and achieving spatiotemporal positioning of the disturbance by fitting the effective puncture point location; wherein the effective puncture point location is determined by the puncture point location that satisfies the disturbance conditions.

[0008] In some embodiments, ionospheric disturbance characteristics include the integrated electron content at different times and under different satellite-to-ground links; determining the puncture point calculation time and the puncture point location at the puncture point calculation time based on the ionospheric disturbance characteristics includes: obtaining the first-order time gradient TEC′ of the integrated electron content at different times and under different satellite-to-ground links. nlink (t), where nlink represents the link number of the satellite-to-ground link; the minimum value of the first-order time gradient of the integral electron content, TEC′, is selected. min The corresponding time is used as the jump point to calculate time t. TEC′-min Determine the jump point and calculate time t. TEC′-min Calculate the time for the puncture point.

[0009] In some embodiments, the model simulation results include the electron density distribution after depletion at different times and different GNSS satellite positions; based on the ionospheric disturbance characteristics, the calculation time of the puncture point and the location of the puncture point at the calculation time of the puncture point are determined, and the model simulation results are further included: after determining the calculation time of the jump point as the calculation time of the puncture point, the peak height h of the electron density after depletion is obtained based on the model simulation results. m Based on the location of the ground station receiver and the locations of different GNSS satellites, obtain the geographical coordinates (lat) of different satellite-to-ground links. link,i ,lon link,i ,h link,i ), where i represents the connection point number of the satellite-to-ground link; determine the height h of the electron density peak. m The nearest satellite-to-ground link point location index I min Select position index I min The corresponding latitude lat link,i (I min ) represents the latitude of the puncture point. IPP And select position index I min The corresponding longitude IPP (I min (Longitude of the puncture point) IPP The location of the puncture point at the time of calculation is determined based on the latitude and longitude of the puncture point.

[0010] In some embodiments, the ionospheric disturbance feature is obtained according to the positions of the ground station receivers, the positions of the different GNSS satellites, and the model simulation results, including: obtaining the effective satellite-ground links and the link information of each effective satellite-ground link at different times according to the model simulation results; performing loop calculation on the effective ground station receiver number, the effective GNSS satellite number, and the time dimension according to the link information of each effective satellite-ground link to obtain the geographic coordinates of the effective satellite-ground link discrete points; performing interpolation calculation on the geographic coordinates of the effective satellite-ground link discrete points to obtain the electron density of the effective satellite-ground link discrete points; and obtaining the integrated electron content at different times and under different satellite-ground links according to the electron density of the effective satellite-ground link discrete points to obtain the ionospheric disturbance feature.

[0011] In some embodiments, the effective piercing point position is determined in the following manner: obtaining the first-order time gradient minimum value TEC' of the integrated electron content min ; sorting all the first-order time gradient minimum values TEC' of the integrated electron content min to obtain a sorting index I sort , and selecting the first N sort points in the sorting index I sort ; determining the latitude lat sort of the effective piercing point as the latitude of the effective piercing point corresponding to the first N IPP,eff points, and determining the longitude Ion sort of the effective piercing point as the longitude of the effective piercing point corresponding to the first N IPP,eff points; and determining the effective piercing point position according to the latitude and longitude of the effective piercing point.

[0012] In some embodiments, the disturbance space-time positioning is achieved by fitting the effective piercing point position, including: fitting the latitude and longitude of the effective piercing point by a first-order polynomial to obtain the inclination angle of the fitted straight line; in the case where the inclination angle of the fitted straight line is not close to 90°, determining the first fitted straight line of the longitude and latitude of the effective piercing point position as lat IPP,eff = k eff lon IPP,eff + B eff ; in the case where the inclination angle of the fitted straight line is close to 90°, determining the second fitted straight line of the longitude and latitude of the effective piercing point position as Ion IPP,eff = k' eff lat IPP,eff + B' eff ; obtaining the theoretical trajectory longitude and latitude fitted straight line based on the slope k eff and the intercept B eff of the first fitted straight line, and obtaining the theoretical trajectory longitude and latitude fitted straight line after adjustment based on the slope k' eff and the intercept B' eff of the second fitted straight line; wherein, latIPP,eff , lon IPP,eff respectively represent the latitude and longitude of the effective piercing point, k eff represents the slope and intercept of the first fitting straight line, k' eff represents the slope of the second fitting straight line.

[0013] In some embodiments, the ionospheric disturbance spatiotemporal positioning method for GNSS satellite detection comprises: simulating the depletion effect based on an ionospheric physical model, and obtaining a model simulation result, including: solving the electron density after depletion according to a neutral gas diffusion equation and an ion diffusion equation; and obtaining the spatiotemporal distribution of the electron density according to the electron density after depletion.

[0014] In some embodiments, the method further comprises: before simulating the depletion effect based on the ionospheric physical model, calculating the geocentric coordinates of different GNSS satellites at different times according to GNSS data; and initializing the ionospheric physical model for model configuration.

[0015] In some embodiments, the device comprises a processor and a memory storing program instructions, and the processor is configured to execute the ionospheric disturbance spatiotemporal positioning method for GNSS satellite detection as described above when running the program instructions.

[0016] In some embodiments, the detection equipment comprises: a detection equipment body; and the ionospheric disturbance spatiotemporal positioning device for GNSS satellite detection as described above, which is installed on the detection equipment body.

[0017] The ionospheric disturbance spatiotemporal positioning method and device for GNSS satellite detection and the detection equipment provided by the embodiments of the present disclosure can achieve the following technical effects:

[0018] The embodiments of the present disclosure utilize the star-to-star link or the star-to-ground link and the model simulation result of the depletion effect of the ionospheric physical model to obtain the ionospheric disturbance characteristics of the ionospheric disturbance region and sequentially determine the piercing point position and the effective piercing point position, so as to realize the accurate positioning of the effective piercing point by detecting the ionospheric disturbance characteristics of the ionospheric disturbance region, and further improve the accuracy and reliability of the ionospheric disturbance spatiotemporal monitoring.

[0019] The general description above and the following description below are exemplary and explanatory only and are not intended to be limiting of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0020] One or more embodiments are exemplified by the accompanying drawings corresponding thereto, which are exemplary and explanatory, and do not constitute a limitation on the embodiments, elements with the same reference numerals in the drawings show similar elements, the drawings do not constitute a proportional limitation, and wherein:

[0021] Figure 1is a schematic diagram of a method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure;

[0022] Figure 2 is a schematic diagram of another method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure;

[0023] Figure 3 is a schematic diagram of another method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure;

[0024] Figure 4 is a schematic diagram of another method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure;

[0025] Figure 5 is a schematic diagram of another method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure;

[0026] Figure 6 is an integral electron content recess structure provided by an embodiment of the present disclosure;

[0027] Figure 7 is a simulation result schematic diagram of the depletion effect provided by an embodiment of the present disclosure;

[0028] Figure 8 is an electron density height profile schematic diagram of the puncture point projection height provided by an embodiment of the present disclosure;

[0029] Figure 9-1 is a puncture point space distribution and ionospheric disturbance trajectory schematic diagram of a certain site provided by an embodiment of the present disclosure;

[0030] Figure 9-2 is a puncture point space distribution and ionospheric disturbance trajectory schematic diagram of the Sathyabama Space Centre site provided by an embodiment of the present disclosure;

[0031] Figure 10 is a schematic diagram of a device for GNSS satellite detection of ionospheric disturbance space-time positioning provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The terms "first", "second", and the like in the description and claims of the present disclosure and the above-described figures are used to distinguish similar objects, and do not necessarily have to be used to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0033] The term "plurality" means two or more, unless otherwise specified.

[0034] In the embodiments of the present disclosure, the character " / " represents a "or" relationship between the preceding and following objects. For example, A / B represents: A or B.

[0035] The term "and / or" is a description of the association relationship of the objects, which means that there can be three relationships. For example, A and / or B means: A or B, or, A and B, three relationships.

[0036] The term "corresponding" can refer to an association relationship or a binding relationship. A and B correspond to each other means that A and B have an association relationship or a binding relationship.

[0037] In combination Figure 1 As shown, the present disclosure provides a method for ionospheric disturbance space-time positioning for GNSS satellite detection, comprising:

[0038] S01, the detection device simulates the depletion effect based on the ionospheric physical model, and obtains the model simulation result.

[0039] S02, the detection device obtains the ionospheric disturbance feature according to the ground station receiver position, the different GNSS satellite position and the model simulation result.

[0040] S03, the detection device determines the piercing point calculation time and the piercing point position at the piercing point calculation time according to the ionospheric disturbance feature.

[0041] S04, the detection device realizes disturbance space-time positioning by fitting the effective piercing point position. Wherein, the effective piercing point position is determined by the piercing point position satisfying the disturbance condition.

[0042] By using the method for ionospheric disturbance space-time positioning for GNSS satellite detection provided by the present disclosure, the detection device simulates the depletion effect based on the ionospheric physical model to obtain the model simulation result, and then obtains the ionospheric disturbance feature in combination with the ground station receiver, the different GNSS satellite position and the model simulation result. Then, the detection device determines the piercing point calculation time and the piercing point position at the piercing point calculation time according to the ionospheric disturbance feature. Finally, the detection device realizes disturbance space-time positioning by fitting the effective piercing point position. The present disclosure uses the model simulation result of the depletion effect of the ionospheric physical model to obtain the ionospheric disturbance feature of the ionospheric disturbance region, and determines the piercing point position and the effective piercing point position in turn according to the ionospheric disturbance feature, so as to realize the accurate positioning of the effective piercing point by detecting the ionospheric disturbance feature of the ionospheric disturbance region, and further improve the accuracy and reliability of the ionospheric disturbance space-time monitoring.

[0043] Optionally, ionospheric perturbation characteristics include the integrated electron content at different times and under different satellite-to-ground links. Combined with... Figure 2 As shown, the detection equipment determines the calculation time of the puncture point and the location of the puncture point at the calculation time based on the characteristics of ionospheric disturbance, including:

[0044] S11, the detection equipment obtains the first-order time gradient TEC′ of the integrated electron content at different times and under different satellite-to-ground links. nlink (t), where nlink represents the link number of the satellite-to-ground link.

[0045] S12, the detection device selects the minimum value of the first-order time gradient of the integral electron content, TEC′. min The corresponding time is used as the jump point to calculate time t. TEC′-min .

[0046] The jump point represents the moment of disturbance in the satellite-to-ground link. The jump point is closest to the moment when the integral electron content of the bounce occurs.

[0047] In this step, the detection device selects the minimum value of the first-order time gradient of the integrated electron content, TEC′. min The corresponding time is used as the jump point calculation time, including: the detection equipment according to [TEC′ min ,t TEC′-min ] = min(TEC′ nlink (t)), determine the first-order time gradient TEC′ of the integral electron content. min (t) Minimum value min(TEC′) nlink (t) corresponds to the time t TEC′-min The jump point is used to calculate the time.

[0048] S13, The detection equipment determines the jump point and calculates time t. TEC′-min Calculate the time for the puncture point.

[0049] Thus, since the disturbance time (i.e., the jump point) of the satellite-to-ground link is closest to the disturbance trajectory, and in engineering practice, extracting the disturbance time of the satellite-to-ground link is difficult due to the influence of random data errors, this embodiment selects the time corresponding to the minimum of the first-order time gradient of the integrated electron content as the jump point calculation time, and determines the determined jump point calculation time as the puncture point calculation time. Based on this, this embodiment selects the minimum of the first-order time gradient of the integrated electron content, TEC′. min The corresponding time is used as the jump point to calculate time t. TEC′-min This time is determined as the puncture point calculation time to ensure the accuracy and reliability of puncture point location identification.

[0050] Optionally, the model simulation results include the electron density distribution after depletion at different times and GNSS satellite locations. Combined with...Figure 3 As shown, the detection device determines the piercing point calculation time and the piercing point position at the piercing point calculation time according to the ionospheric disturbance characteristics, and further comprises:

[0051] S21, the detection device determines the piercing point calculation time as the piercing point calculation time, and obtains the electron density peak height h after the consumption according to the model simulation result m .

[0052] S22, the detection device obtains the geographic coordinates (lat link,i ,lon link,i ,h link,i ) of different satellite-ground links according to the positions of the ground station receiver and different GNSS satellites, and i represents the serial number of the connecting point of the satellite-ground link.

[0053] In this step, the detection device obtains the geographic coordinates of different satellite-ground links according to the positions of the ground station receiver and different GNSS satellites, which comprises: the detection device obtains the connecting point position coordinates of the satellite-ground link according to the positions of the ground station receiver and different GNSS satellites. The detection device performs coordinate conversion on the connecting point position coordinates of the satellite-ground link to obtain the geographic coordinates of different satellite-ground links.

[0054] As a specific example, the position coordinates of the ground station receiver are (x site ,y site ,z site ), and the position coordinates of the GNSS satellite are (x GNSS ,y GNSS ,z GNSS ).

[0055] The detection device obtains the connecting point position coordinates of the satellite-ground link according to the positions of the ground station receiver and different GNSS satellites, which specifically comprises: the connecting point position coordinates (x link,i ,y link,i ,z link,i ) of the satellite-ground link are:

[0056]

[0057] Wherein, N is the number of satellite-ground link connecting points, and i is the serial number of the connecting point of the satellite-ground link.

[0058] The detection device performs coordinate conversion on the connecting point position coordinates of the satellite-ground link to obtain the geographic coordinates of different satellite-ground links, which specifically comprises: the geographic coordinates (lat link,i ,lon link,i ,h link,i ) of the satellite-ground link are:

[0059]

[0060] lon link,i = atg(y link,i / x link,i );

[0061]

[0062] wherein R e is the radius of the earth, η is the eccentricity, t2, t1 and r0 are respectively:

[0063]

[0064] S23, the detection device determines the position index I m of the nearest satellite-ground link point to the electron density peak height h min .

[0065] In this step, the detection device determines the position index I m of the nearest satellite-ground link point to the electron density peak height h min , comprising: the detection device obtains the longitude and latitude of the piercing point according to [Δh min , I min ] = min (|h link,i -h m |), h link,i represents the height of the i-th satellite-ground link point, and Δh i = |h link,i -h m | represents the absolute value of the height difference between the i-th satellite-ground link point and the electron density peak height, and Δh min represents the distance between the nearest satellite-ground link point to the electron density peak height and the electron density peak height.

[0066] S24, the detection device selects the latitude lat min (I link,i ) corresponding to the position index I min as the latitude lat IPP of the piercing point, and selects the longitude lon min (I IPP ) corresponding to the position index I min as the longitude lon IPP of the piercing point.

[0067] S25, the detection device determines the piercing point position at the piercing point calculation time according to the latitude and longitude of the piercing point.

[0068] In this way, in principle, the piercing point projection height is selected at the most accurate ballistic height. Since there is a lack of prior information of the perturbed trajectory, therefore, combined with Figure 8The electronic density height profile of the projection height of the piercing point is shown. In actual calculation, the peak value of the electronic density height is selected as the projection height of the piercing point calculation. Based on this, the disclosed embodiments determine the piercing point calculation time as the piercing point calculation time. Then, the peak value of the electronic density after the depletion is obtained according to the model simulation result. The geographical coordinates of different satellite-ground links are obtained according to the positions of the ground station receivers and different GNSS satellites. Finally, the detection device determines the position index of the satellite-ground link point closest to the peak value of the electronic density, and selects the latitude lat link,i (I min ) as the latitude of the piercing point IPP and selects the longitude lon min corresponding to the position index I IPP (I min ) as the longitude of the piercing point lon IPP to realize the piercing point positioning at the piercing point calculation time.

[0069] Optionally, as shown in Figure 4 , the detection device obtains the ionospheric disturbance characteristics according to the positions of the ground station receivers and different GNSS satellites, and the model simulation result, including:

[0070] S31, the detection device obtains the effective satellite-satellite links and the link information of each effective satellite-satellite link at different times according to the model simulation result.

[0071] In this step, the link information includes the electronic density and the latitude, longitude, and height of the discrete points of the effective satellite-satellite link.

[0072] S32, the detection device performs loop calculation on the number of effective ground station receivers, the number of effective GNSS satellites, and the time dimension according to the link information of each effective satellite-satellite link, to obtain the geographical coordinates of the discrete points of the effective satellite-satellite link.

[0073] In this step, the detection device performs loop calculation on the number of effective ground station receivers, the number of effective GNSS satellites, and the time dimension according to the link information of each effective satellite-satellite link, to obtain the geographical coordinates of the discrete points of the effective satellite-satellite link, including: the detection device performs loop calculation on the number of effective ground station receivers, the number of effective GNSS satellites, and the time dimension according to the link information of each effective satellite-satellite link, to obtain the geographical coordinates of the discrete points of the effective satellite-satellite link; and the detection device performs coordinate conversion on the geographical coordinates of the discrete points of the effective satellite-satellite link, to obtain the geographical coordinates of the discrete points of the effective satellite-satellite link.

[0074] S33, the detection device performs interpolation calculation on the geographical coordinates of the discrete points of the effective satellite-satellite link, to obtain the electronic density of the discrete points of the effective satellite-satellite link.

[0075] In this step, the electronic density Where, n e,i Lat C-G,i Lon C-G,i and h C-G,i ds represents the electron density, latitude, longitude, and altitude coordinates of the discrete points of the effective star link, respectively, and ds represents the distance between the discrete points of the effective star link.

[0076] S34, the detection equipment obtains the integrated electron content at different times and under different satellite-to-ground links based on the electron density at discrete points of the effective star link to acquire ionospheric perturbation characteristics. Here, the integrated electron content depression structure can be referenced... Figure 6 . Figure 6 In this context, TEC represents the integral electron content.

[0077] Thus, this embodiment of the present disclosure obtains the effective satellite links and link information of each effective satellite link at different times based on model simulation results. Then, based on the link information of each effective satellite link, iterative calculations are performed in the dimensions of the effective number of ground station receivers, the effective number of GNSS satellites, and time to obtain the geographical coordinates of discrete points of the effective satellite links. Interpolation calculations are then performed on the geographical coordinates of these discrete points to obtain the electron density of the discrete points. Finally, the detection equipment obtains the integrated electron content at different times and under different satellite-to-ground links based on the electron density of the discrete points of the effective satellite links to obtain ionospheric disturbance characteristics. Based on this, this embodiment of the present disclosure, through iterative calculations and interpolation calculations, can obtain accurate and reliable ionospheric disturbance characteristics, providing a theoretical basis for the subsequent calculation of the puncture point calculation time and location.

[0078] Optionally, the detection device determines the effective puncture point location in the following manner:

[0079] The detection equipment obtains the minimum first-order time gradient of the integral electron content, TEC′. min .

[0080] The detection equipment detects the minimum first-order time gradient TEC′ of all integrated electron contents. min Perform sorting to obtain sorting index I s o And select sort index I sort Middle front N s o One point. In this step, [TEC' min,sort ,I sort ] = sort(TEC′ min ). sort(·) represents the sorting function, TEC′ min,sort This represents the minimum first-order time gradient of the integrated electron content after sorting.

[0081] The detection equipment determines the first N sort The latitude corresponding to each point (lat)IPP,eff is the latitude of the effective piercing point, and the longitude lon sort corresponding to the first N IPP,eff is the longitude of the effective piercing point.

[0082] The detection device determines the position of the effective piercing point according to the latitude and longitude of the effective piercing point.

[0083] In this way, some satellite-ground link piercing points with the minimum value of the first-order time gradient of the integrated electron content are evenly distributed on both sides of the perturbed trajectory, and the perturbed space-time positioning can be realized by extracting the effective piercing point information from the piercing points. In actual calculation, the present embodiment sorts the minimum value of the first-order time gradient of the integrated electron content after obtaining the minimum value to obtain a sorting index. The latitude lat sort corresponding to the first N IPP,eff is the latitude of the effective piercing point, and the longitude lon sort corresponding to the first N IPP,eff is the longitude of the effective piercing point. The effective piercing point is screened out from the piercing points, so that the accurate positioning of the effective piercing point is realized by detecting the ionospheric disturbance characteristics of the ionospheric disturbance region, and the accuracy and reliability of the ionospheric disturbance space-time monitoring are significantly improved.

[0084] It should be noted that the detection device sorts all the minimum values of the first-order time gradient of the integrated electron content TEC′ min , and the detection device can sort all the minimum values of the first-order time gradient of the integrated electron content TEC′ min in ascending order.

[0085] Optionally, the detection device realizes the perturbed space-time positioning through fitting of the position of the effective piercing point, including:

[0086] The detection device fits the latitude and longitude of the effective piercing point through a first-order polynomial to obtain the inclination angle of the fitted straight line.

[0087] In the case where the inclination angle of the fitted straight line is not close to 90°, the detection device determines that the first fitted straight line of the latitude and longitude of the position of the effective piercing point is lat IPP,eff = k eff lon IPP,eff + B eff .

[0088] In the case where the inclination angle of the fitted straight line is close to 90°, the detection device determines that the second fitted straight line of the latitude and longitude of the position of the effective piercing point is lon IPP,eff = k' eff lat IPP,eff + B' eff .

[0089] The detection device determines the position of the effective piercing point based on the slope keff the intercept B of the first fitting straight line eff , obtain the theoretical trajectory latitude and longitude fitting straight line, and based on the slope k' of the second fitting straight line eff the intercept B' of the second fitting straight line eff , obtain the adjusted direction theoretical trajectory latitude and longitude fitting straight line.

[0090] Wherein, lat IPP,eff , lon IPP,eff respectively represent the latitude and longitude of the effective piercing point, k eff represent the slope of the first fitting straight line intercept, k' eff represent the slope of the second fitting straight line.

[0091] In this way, by fitting the latitude and longitude of the effective piercing point through a first order polynomial, the slope and intercept of the fitting straight line under different inclination angles are obtained, and the fitting of the theoretical trajectory latitude and longitude is carried out in turn, so as to realize the ionospheric accurate space-time positioning based on the sudden point position recognition, and then realize the positioning of high-speed moving target under GNSS based on the sudden point position recognition, and improve the GNSS satellite monitoring ability. It is beneficial.

[0092] In practical application, the detection equipment sorts all the first order time gradient minimum values of integral electron content TEC' min , including:

[0093] [TEC' min,sort , I sort ] = sort (TEC' min ) ;

[0094] Wherein, TEC' min,sort is the sorted first order time gradient minimum value of integral electron content, I sort is the sorting index. Selecting the first N sort points in the sorting index, then the effective piercing point latitude lat IPP,eff and longitude lon IPP,eff are respectively:

[0095] lat IPP,eff = lat IPP (I sort (1:N sort ));

[0096] lon IPP,eff = lon IPP (I sort (1:N sort ));

[0097] The latitude lat IPP,eff and longitude lon IPP,effUsing a first order polynomial to fit, the fitting relationship is:

[0098] (a) When the slope angle of the fitting line is not close to 90°, the first fitting line of the longitude and latitude of the effective piercing point is: lat IPP,eff = k eff lon IPP,eff + B eff ; where k eff is the slope of the first fitting line, and B eff is the intercept of the first fitting line.

[0099] (b) When the slope angle of the fitting line is close to 90°, the second fitting line of the longitude and latitude of the effective piercing point is: lon IPP,eff = k' eff lat IPP,eff + B' eff ; where k' eff is the slope of the second fitting line obtained after adjusting the direction, and B' eff is the intercept of the second fitting line obtained after adjusting the direction.

[0100] Similarly, Figure 9-1 represents a schematic diagram of the spatial distribution of piercing points and ionospheric disturbance trajectories of a certain ground station, Figure 9-2 represents a schematic diagram of the spatial distribution of piercing points and ionospheric disturbance trajectories of the Thiruvananthapuram station. The straight lines in the two figures represent the fitting lines of the longitude and latitude of the theoretical trajectory based on the positions of the piercing points.

[0101] Combined with Figure 9-1 and Figure 9-2 , the fitting relationship is:

[0102] (a) When the slope angle of the fitting line is not close to 90°, the fitting line of the longitude and latitude of the theoretical trajectory is: lat Traj = k Traj lon Traj + B Traj ; where k Traj is the slope of the fitting line of the longitude and latitude of the theoretical trajectory, and B Traj is the intercept of the fitting line of the longitude and latitude of the theoretical trajectory. Similarly, when close to 90°, the fitting of the first order polynomial is adjusted to:

[0103] (b) When the slope angle of the fitting line is close to 90°, the adjusted fitting line of the longitude and latitude of the theoretical trajectory is: lon Traj = k' Traj lat Traj + B' Traj ; where k' TrajB' is the slope of the straight line fitted by the longitude and latitude of the adjusted direction theoretical track Traj B' is the intercept of the straight line fitted by the longitude and latitude of the adjusted direction theoretical track.

[0104] Optionally, the detection device simulates the depletion effect based on an ionospheric physical model, and obtains a model simulation result, including:

[0105] The detection device solves the electron density after depletion according to the neutral gas diffusion equation and the ion diffusion equation. The detection device obtains the spatiotemporal distribution of the electron density according to the electron density after depletion.

[0106] In this way, the depletion effect is solved by the neutral gas diffusion equation and the particle diffusion equation to obtain the electron density after depletion, and after obtaining the electron density after depletion, the neutral gas loss and the plasma transport process are ignored to obtain the spatiotemporal distribution of the electron density.

[0107] In actual application, the depletion effect is solved by the neutral gas diffusion equation and the ion diffusion equation:

[0108] The neutral gas diffusion equation is

[0109] The ion diffusion equation is

[0110] Where n g and n a are the injected neutral gas electron density and the background ion electron density, t is time, D g and D a are the neutral gas diffusion rate and the ion diffusion rate. In the embodiment of the present disclosure, the above equation is simplified by ignoring the neutral gas loss and the plasma transport process, and the expression of the electron density after depletion is obtained as:

[0111]

[0112] Where erf(·) represents the error function, n e0 represents the undisturbed ionospheric electron density, N0 represents the total number of released molecules, and r is the distance from the simulation grid point to the release point. Since the ionospheric disturbance region is constantly moving, it can be equivalent to a series of discrete release points, and at this time the spatiotemporal distribution of the electron density is represented as:

[0113]

[0114] Where N r is the number of release points, N i is the number of the i-th released molecule, r i is the distance from the simulation grid point to the i-th release point, and t iis the release duration of the i th release point. By using the equation, the spatial and temporal distribution of the electron density of the simulation region can be obtained by loop calculation in the time, space and release times dimensions. The simulation result of the depletion effect can be referred to Figure 7 .

[0115] In combination with the method for simulating the ionospheric disturbance shown in Figure 6 , the present disclosure further provides a method for ionospheric disturbance spatiotemporal positioning of GNSS satellite detection, which comprises the following steps:

[0116] S51, the detection device calculates the geocentric coordinates of different GNSS satellites at different times according to the GNSS data.

[0117] S52, the detection device initializes the model configuration of the ionospheric physical model.

[0118] In this step, the ionospheric physical model includes the International Reference Ionosphere (IRI) model and the Mass Spectrometer and Incoherent Scatter (MSIS) model. The detection device initializes the model configuration of the ionospheric physical model, which comprises: the detection device determines the latitude, longitude and height range of the simulation region, and determines the geocentric coordinates of the grid points; the detection device initializes the condition configuration of the International Reference Ionosphere model and the Mass Spectrometer and Incoherent Scatter model, and calculates the background ion electron density and the neutral atmosphere parameters; wherein the neutral atmosphere parameters include the neutral gas electron density; the detection device sets the release time resolution and the release duration, the release amount, the diffusion coefficient and the coincidence rate parameters. The diffusion coefficient is used to calculate the neutral gas diffusion rate and the ion diffusion rate, and the release time resolution and the release duration, the release amount are used to calculate the total number of released molecules.

[0119] S53, the detection device simulates the depletion effect based on the ionospheric physical model to obtain the model simulation result.

[0120] S54, the detection device obtains the ionospheric disturbance characteristics according to the positions of the ground station receivers and different GNSS satellites, and the model simulation result.

[0121] S55, the detection device determines the piercing point calculation time and the piercing point position at the piercing point calculation time according to the ionospheric disturbance characteristics.

[0122] S56, the detection device realizes disturbance spatiotemporal positioning by fitting the effective piercing point position. The effective piercing point position is determined by the piercing point position satisfying the disturbance condition.

[0123] The method for GNSS satellite detection of ionospheric disturbance space-time positioning provided by the embodiment of the present disclosure is used to calculate the geocentric coordinates of different GNSS satellites at different times based on the ionospheric physical model before simulating the depletion effect, and to initialize the model configuration of the ionospheric physical model. After the configuration is completed, the depletion effect is simulated based on the ionospheric physical model to obtain the model simulation result, and then the ionospheric disturbance characteristics are obtained by combining the ground station receiver and the positions of different GNSS satellites, the model simulation result. Then, the probe device determines the piercing point calculation time and the piercing point position at the piercing point calculation time according to the ionospheric disturbance characteristics. Finally, the probe device realizes disturbance space-time positioning by fitting from the effective piercing point position. The embodiment of the present disclosure uses the model simulation result of the depletion effect of the ionospheric physical model to obtain the ionospheric disturbance characteristics of the ionospheric disturbance region, and determines the piercing point position and the effective piercing point position in turn, so as to realize the accurate positioning of the effective piercing point by detecting the ionospheric disturbance characteristics of the ionospheric disturbance region, and to improve the accuracy and reliability of the ionospheric disturbance space-time monitoring.

[0124] In combination with Figure 10 As shown in the figure, the embodiment of the present disclosure provides a device 70 for GNSS satellite detection of ionospheric disturbance space-time positioning, which includes a processor 700 and a memory 701. Optionally, the device 70 can also include a communication interface 702 and a bus 703. Wherein the processor 700, the communication interface 702, the memory 701 can complete the communication among each other through the bus 703. The communication interface 702 can be used for information transmission. The processor 700 can call the logical instructions in the memory 701 to execute the method for GNSS satellite detection of ionospheric disturbance space-time positioning of the above-mentioned embodiment.

[0125] In addition, the logical instructions in the memory 701 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0126] The memory 701 as a kind of computer readable storage medium can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 700 executes the program instructions / modules stored in the memory 701, thereby executing function application and data processing, that is, realizing the method for GNSS satellite detection of ionospheric disturbance space-time positioning in the above-mentioned embodiment.

[0127] The memory 701 can include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required by a function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 701 can include a high-speed random access memory, and can also include a nonvolatile memory.

[0128] The embodiment of the present disclosure provides a detection device, comprising: a detection device body, and the ionospheric disturbance space-time positioning device 70 for GNSS satellite detection described above. The ionospheric disturbance space-time positioning device 70 for GNSS satellite detection is installed on the detection device body. The installation relationship described herein is not limited to being placed inside the detection device body, but also includes installation connection with other components of the detection device, including but not limited to physical connection, electrical connection or signal transmission connection, etc. Those skilled in the art can understand that the ionospheric disturbance space-time positioning device 70 for GNSS satellite detection can be adapted to a feasible detection device body, and thus realize other feasible embodiments.

[0129] The embodiment of the present disclosure provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are configured to execute the ionospheric disturbance space-time positioning method for GNSS satellite detection.

[0130] Those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the intention of the present application also includes these modifications and variations.

Claims

1. A space-time positioning method for ionospheric disturbances detected by GNSS satellites, characterized in that, The method comprises the following steps: Based on the ionospheric physical model, the depletion effect is simulated to obtain the model simulation result; According to the position of the ground station receiver and the position of different GNSS satellites, the ionospheric disturbance characteristics are obtained according to the model simulation result; According to the ionospheric disturbance characteristics, the piercing point calculation time and the piercing point position at the piercing point calculation time are determined; The disturbance space-time positioning is realized by fitting the effective piercing point position, wherein the effective piercing point position is determined by the piercing point position meeting the disturbance condition.

2. The method of claim 1, wherein, The ionospheric disturbance characteristics include the integral electron content at different time and different satellite-ground link; according to the ionospheric disturbance characteristics, the piercing point calculation time and the piercing point position at the piercing point calculation time are determined, which comprises: Obtaining the first-order time gradient of integral electron content TEC′ at different times and under different satellite-ground link conditions nlink (t), nlink represents the link label of the satellite-ground link; selecting the minimum value of the first time gradient of the integral electron content TEC' min the time corresponding to the jump point as the calculation time t TEC′-min ; Determining the snap point calculation time instant t TEC′-min To calculate the puncture point time instant.

3. The method of claim 2, wherein, The model simulation result includes the electron density distribution after depletion at different time and different GNSS satellite positions; according to the ionospheric disturbance characteristics, the piercing point calculation time and the piercing point position at the piercing point calculation time are determined, which further comprises: After determining the snap point calculation time as the puncture point calculation time, the peak height h of the electron density after depletion is obtained according to the model simulation result m ; According to the ground station receiver position and different GNSS satellite positions, geographical coordinates (lat link,i ,lon link,i ,h link,i ) of different star-ground links are obtained, i represents the serial number of the connecting point of the star-ground link; determining the peak height h of the electron density m Recent star-ground link point position index I min ; Selecting the position index I min The corresponding latitude lat link,i (I min ) is the latitude lat IPP of the puncture point, and selecting the position index I min The corresponding longitude lon IPP (I min ) is the longitude lon IPP of the puncture point; According to the latitude and longitude of the piercing point, the piercing point position at the piercing point calculation time is determined.

4. The method of claim 2, wherein, According to the position of the ground station receiver and the position of different GNSS satellites, the ionospheric disturbance characteristics are obtained according to the model simulation result, which comprises: According to the model simulation result, the effective satellite-satellite link at different time and the link information of each effective satellite-satellite link are obtained; According to the link information of each effective satellite-satellite link, the effective satellite-satellite link discrete point geographical coordinates are obtained by loop calculation in the effective ground station receiver number, the effective GNSS satellite number and the time dimension; The electron density of the effective satellite-satellite link discrete point is obtained by interpolation calculation of the effective satellite-satellite link discrete point geographical coordinates; According to the electron density of the effective satellite-satellite link discrete point, the integral electron content at different time and different satellite-ground link is obtained to obtain the ionospheric disturbance characteristics.

5. The method of claim 2, wherein, The effective piercing point position is determined in the following way: obtaining a first time derivative of the electronic content minimum value TEC' min ; TEC' is the first time derivative of the integral electron content minimum min The sorting is performed to obtain a sorting index I sort The sorting is performed to obtain a sorting index I sort The first N points in the sorting index I sort are selected. determining the latitude lat corresponding to the first N points sort determining the latitude lat corresponding to the first N points IPP,eff determining the latitude lat corresponding to the first N points sort determining the longitude lon corresponding to the first N points IPP,eff determining the longitude lon corresponding to the first N points According to the latitude and longitude of the effective piercing point, the effective piercing point position is determined.

6. The method according to any one of claims 1 to 5, characterized in that, The disturbance space-time positioning is realized by fitting the effective piercing point position, which comprises: The inclination angle of the fitting straight line is obtained by fitting the latitude and longitude of the effective piercing point through a first-order polynomial; In the case where the inclination angle of the fitting straight line is not close to 90°, the first fitting straight line for determining the latitude and longitude of the effective puncture point position is lat IPP,eff = k eff lon IPP,eff + B eff ; In the case where the angle of inclination of the fitted straight line is close to 90°, the second fitted straight line for determining the longitude and latitude of the effective puncture point position is lon IPP,eff = k' eff lat IPP,eff + B' eff ; a slope k of the first fitted straight line eff an intercept B of the first fitted straight line eff a theoretical trajectory latitude-longitude fitted straight line is obtained, and a slope k' of the second fitted straight line eff an intercept B' of the second fitted straight line eff a theoretical trajectory latitude-longitude fitted straight line after adjustment of the direction is obtained; wherein lat IPP,eff , lon IPP,eff represent the latitude and longitude of the effective puncture point, respectively, k eff represents the slope and intercept of the first fitted straight line, and k' eff represents the slope of the second fitted straight line.

7. The method according to any one of claims 1 to 5, characterized in that, Based on the ionospheric physical model, the depletion effect is simulated to obtain the model simulation result, which comprises: According to the neutral gas diffusion equation and the ion diffusion equation, the electron density after depletion is solved; According to the electron density after depletion, the electron density space-time distribution is obtained.

8. The method according to any one of claims 1 to 5, characterized in that, It further comprises: Before simulating the depletion effect based on the ionospheric physical model, the geocentric coordinates of different GNSS satellites at different time are calculated according to the GNSS data; The ionospheric physical model is initialized and configured.

9. An ionospheric disturbance space-time positioning apparatus for GNSS satellite probing, comprising a processor and a memory having stored program instructions, characterized in that, The processor is configured to execute the ionospheric disturbance space-time positioning method for GNSS satellite detection as claimed in any one of claims 1 to 8 when running the program instructions.

10. A detection device, characterized in that It comprises: A detection device body; The ionospheric disturbance space-time positioning device for GNSS satellite detection as claimed in claim 9 is installed in the detection device body.

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