Grid ionosphere data calculation method and device, equipment, storage medium and program product

Abstract

The invention relates to the technical field of communication, and provides a grid ionosphere data calculation method and device, equipment, a storage medium and a program product, and the method comprises the steps: carrying out the ionosphere data extraction based on message information, and obtaining initial ionosphere data; performing abnormal data adjustment on first grid ionized layer data in the initial ionized layer data; the first grid ionosphere data is wide-area differential grid ionosphere data; and under the condition that the initial ionosphere data contains the first grid ionosphere data and second grid ionosphere data broadcasted by the satellite-based enhancement system, performing data replacement on the adjusted first grid ionosphere data based on the second grid ionosphere data to obtain target ionosphere data. According to the method, the wide-area differential grid ionized layer data after abnormal data adjustment and the grid ionized layer data broadcasted by the satellite-based enhancement system are combined in the final ionized layer data, so that the accuracy and availability of using the grid ionized layer data to carry out ionized layer delay correction can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and in particular to a grid ionospheric data calculation method and device, equipment, storage medium and program product. BACKGROUND

[0002] Satellite navigation positioning systems such as Global Positioning System (GPS), Beidou satellite navigation system (BDS), Galileo, etc. provide high-precision position, speed and time information in the global range. However, these systems will be affected by various error sources when providing services, among which the ionospheric delay is one of the main error sources. The ionosphere is a region of charged particles in the Earth's atmosphere caused by solar radiation, and when electromagnetic wave signals pass through the ionosphere, their propagation speed and direction will change, thereby affecting the final positioning result. In order to improve the positioning accuracy, it is necessary to correct the ionospheric delay by using a suitable method.

[0003] Different positioning modes of receivers use different ionospheric delay correction methods. Dual-frequency or multi-frequency positioning mode usually eliminates ionospheric delay errors through linear combination of different frequency observations; while in single-frequency positioning mode, it needs to use ionospheric delay correction model or algorithm. Different global navigation satellite systems (GNSS) broadcast different broadcast ionospheric models. Among them, the Beidou satellite navigation system broadcasts wide-area differential grid ionospheric data and grid ionospheric data in the BeiDou satellite-based augmentation system (BDSBAS) in order to improve the ionospheric delay correction accuracy of real-time single-frequency users, thereby meeting the needs of different users through two types of ionospheric grid products.

[0004] Currently, users of the Beidou satellite navigation system use grid ionospheric data to correct ionospheric delay errors, and select one of the two types of broadcast grid ionospheric data according to needs and conditions. However, although the wide-area differential grid ionospheric data has high resolution, the coverage range of the effective grid points is limited, and there is a problem of low availability of some grid points, while the effective grid points of the BeiDou satellite-based augmentation system have a wider coverage range but relatively low resolution. Therefore, the availability or accuracy of the grid ionospheric data is insufficient, which leads to the inability to use grid ionospheric data to correct ionospheric delay errors, or insufficient accuracy when using grid ionospheric data to correct ionospheric delay errors. SUMMARY

[0005] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application proposes a grid ionospheric data calculation method, device, equipment, storage medium and program product, to solve the problem of insufficient availability or accuracy of current grid ionospheric data, thereby improving the accuracy and availability when using grid ionospheric data to correct ionospheric delay errors.

[0006] According to the grid ionospheric data calculation method of the first aspect of the present application, it comprises: extracting ionospheric data based on the message information to obtain initial ionospheric data; adjusting abnormal data in the first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; In the case where the first grid ionospheric data and the second grid ionospheric data are contained in the initial ionospheric data, the second grid ionospheric data is used to replace the adjusted first grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by the satellite-based augmentation system.

[0007] According to one embodiment of the present application, the second grid ionospheric data is used to replace the adjusted first grid ionospheric data, comprising: determining the grid points with invalid data in the adjusted first grid ionospheric data as target grid points; the data validity and invalidity of the grid points are determined by the vertical ionospheric delay and its error broadcast by the grid points; According to the data valid grid points corresponding to the target grid points in the second grid ionospheric data, the target grid points in the first grid ionospheric data are replaced.

[0008] According to one embodiment of the present application, the second grid ionospheric data is used to replace the adjusted first grid ionospheric data, comprising: Based on the preset conversion coefficient, the data valid grid points corresponding to the target grid points in the second grid ionospheric data are numerically adjusted; According to the numerically adjusted grid points, the target grid points in the first grid ionospheric data are replaced.

[0009] According to one embodiment of the present application, the abnormal data in the first grid ionospheric data in the initial ionospheric data is adjusted, comprising: In a case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, the first grid ionospheric data in the initial ionospheric data is subjected to the outlier elimination. In a case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, the first grid ionospheric data in the initial ionospheric data is subjected to the outlier elimination.

[0010] According to an embodiment of the present application, after the first grid ionospheric data in the initial ionospheric data is subjected to the abnormal data adjustment, the method further comprises: In a case that the initial ionospheric data contains the first grid ionospheric data and does not contain the second grid ionospheric data, the first grid ionospheric data after the adjustment is determined as the target ionospheric data.

[0011] According to an embodiment of the present application, after the first grid ionospheric data after the adjustment is subjected to the data replacement based on the second grid ionospheric data, the method further comprises: The target ionospheric data is subjected to data optimization to obtain the target ionospheric data after the optimization.

[0012] According to the grid ionospheric data calculation device of the second aspect embodiment of the present application, comprising: The extraction module is configured to extract ionospheric data based on the message information to obtain initial ionospheric data. The adjustment module is configured to adjust the first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data. The replacement module is configured to, in a case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data, replace the first grid ionospheric data after the adjustment based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0013] According to the electronic device of the third aspect embodiment of the present application, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when the processor executes the computer program, the grid ionospheric data calculation method is realized.

[0014] The storage medium according to the fourth aspect of the present application is a non-transitory computer-readable storage medium, and a computer program is stored on the storage medium. The computer program is executed by a processor to implement the grid ionospheric data calculation method according to any one of the above aspects.

[0015] The computer program product according to the fifth aspect of the present application comprises a computer program. The computer program is executed by a processor to implement the grid ionospheric data calculation method according to any one of the above aspects.

[0016] The one or more technical solutions described above in the embodiments of the present application have at least the following technical effects: By extracting ionospheric data from the electric text information to obtain initial ionospheric data, and adjusting abnormal data in the wide-area differential grid ionospheric data in the initial ionospheric data, in the case that the initial ionospheric data contains the wide-area differential grid ionospheric data and the grid ionospheric data broadcast by the satellite-based augmentation system, the grid ionospheric data broadcast by the satellite-based augmentation system can be used to replace the adjusted wide-area differential grid ionospheric data to obtain target ionospheric data. Since the target ionospheric data combines the wide-area differential grid ionospheric data after adjusting abnormal data and the grid ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data has both the high resolution of the wide-area differential grid ionospheric data and the high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system. Therefore, the accuracy and availability of ionospheric delay correction using grid ionospheric data can be improved.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is one of the flowcharts of the grid ionospheric data calculation method provided by the embodiments of the present application.

[0020] Figure 2 is another flowchart of the grid ionospheric data calculation method provided by the embodiments of the present application.

[0021] Figure 3 is a third flowchart of the grid ionospheric data calculation method provided by the embodiments of the present application.

[0022] Figure 4 FIG. 1 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0023] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0024] It should be noted that the wide-area differential grid ionospheric information broadcast in the D2 type message of the Beidou No. 2 GEO satellite and the grid ionospheric information broadcast in the Beidou satellite-based augmentation system. Among them, the D2 type message is a high-speed navigation message format broadcast by the GEO satellite in the Beidou No. 2 system, which contains basic navigation parameters and wide-area augmentation service information, and is used to provide higher precision and higher integrity positioning services.

[0025] It should be further noted that the two types of grid ionospheric data broadcast by the Beidou satellite navigation system each have their advantages and limitations. The low resolution of the grid division will increase the interpolation calculation error of the piercing point ionospheric delay, and the existence of invalid grid points will affect the geometric distribution of the grid points during interpolation, thereby leading to an increase in interpolation error or even the inability to select enough valid grids for interpolation calculation, so that the user can only use the broadcast ionospheric model for correction calculation. Therefore, for receiver users who can receive both types of grid ionospheric data, still selecting one type of grid ionospheric data for use will limit the ionospheric delay correction accuracy.

[0026] Based on this, the present application proposes a grid ionospheric data calculation method, device, equipment, storage medium and program product, which combines two types of grid ionospheric data to simultaneously have high resolution of Beidou wide-area differential grid ionospheric data and high coverage of Beidou satellite-based augmentation system grid ionospheric data, aiming to improve the accuracy and availability of GNSS receiver users using the grid ionospheric data of the Beidou satellite navigation system for ionospheric delay correction.

[0027] It should be noted that all actions of obtaining signals, information or data in the present application are performed in compliance with the corresponding data protection regulations and policies of the place, and with the authorization given by the owner of the corresponding device.

[0028] Figure 1is one of flowcharts of a grid ionospheric data calculation method provided by an embodiment of the present application, as shown in Figure 1 The grid ionospheric data calculation method comprises the following steps. In step 110, ionospheric data is extracted based on the message information to obtain initial ionospheric data.

[0029] In step 120, the first grid ionospheric data in the initial ionospheric data is adjusted for abnormal data; the first grid ionospheric data is wide-area differential grid ionospheric data.

[0030] In step 130, in the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data, the adjusted first grid ionospheric data is replaced based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0031] It should be noted that the execution subject of the grid ionospheric data calculation method provided by the embodiment of the present application can be a computer device, which can be, for example, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an Ultra-mobile Personal Computer (UMPC), a netbook, or a Personal Digital Assistant (PDA), etc.

[0032] Specifically, a GNSS receiver user (specifically, a receiver user of the Beidou satellite navigation system) in the present application can receive GNSS message information through the receiver. The GNSS message information is a low-speed structured data stream transmitted by the satellite navigation system to the receiver, which can contain satellite position, time information, and orbit parameters, etc., and is used to realize precise positioning, time service, and error correction.

[0033] Further, the wide-area differential grid ionospheric data (specifically, Beidou wide-area differential grid ionospheric data, which can be defined as the first grid ionospheric data in the present application) and the grid ionospheric data broadcast by the satellite-based augmentation system (specifically, the Beidou satellite-based augmentation system in the present application, which can be defined as the second grid ionospheric data in the present application) can be obtained from the original GNSS message information.

[0034] Specifically, for BeiDou wide-area differential grid ionospheric data, the ionospheric grid covers an area of ​​70°–145°E and 7.5°–55°N, with a latitude and longitude interval of 5° × 2.5°, totaling 320 grid points. This type of grid data is split into two tables for broadcast according to latitude, with each table corresponding to 160 grid points, divided at 5° × 5° latitude. The first table broadcasts grid points numbered 1–160, with a latitude range of 10°–55°N; the second table broadcasts grid points numbered 161–320, with a latitude range of 7.5°–52.5°N. This application can define the acquired grid ionospheric data as follows: ; in, This indicates the grid table number corresponding to each grid point. and They represent the first The corresponding number on the Zhangge net list The longitude and latitude of each geographical location; and These represent the vertical ionospheric delay and its error for the grid point, respectively, both in meters.

[0035] For gridded ionospheric data broadcast by the BeiDou satellite-based augmentation system, the global ionospheric grid points are divided into 11 grid bands according to international civil aviation standards. The actual received valid grid point data is mainly located in grid bands 6–8, with latitude and longitude intervals of 5° × 5°. This application defines the acquired gridded ionospheric data as follows: ; in, This indicates the grid zone number corresponding to the grid point. and They represent the first The corresponding grid band The longitude and latitude of each geographical location; and These represent the vertical ionospheric delay and its error for the grid point, respectively, both in meters.

[0036] Therefore, the extracted ionospheric data can be used as the initial ionospheric data.

[0037] Furthermore, based on the data acquisition conditions in the initial ionospheric data, data preprocessing can be performed on the first grid ionospheric data to adjust any abnormal data in the first grid ionospheric data. This data preprocessing may include outlier removal and invalid value interpolation, or may only include outlier removal, depending on the data acquisition conditions.

[0038] After the data preprocessing of the first grid ionospheric data is completed, in the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data, the invalid data in the adjusted first grid ionospheric data can be replaced by the valid data in the second grid ionospheric data, and the integrated ionospheric data after the replacement is completed is determined as the target ionospheric data.

[0039] Further, the GNSS receiver user can calculate the ionospheric delay according to the target ionospheric data, and further correct the ionospheric delay.

[0040] According to the grid ionospheric data calculation method of the embodiments of the present application, the initial ionospheric data is obtained by extracting the ionospheric data from the message information, and the abnormal data in the wide-area differential grid ionospheric data in the initial ionospheric data is adjusted. Further, in the case that the initial ionospheric data contains the wide-area differential grid ionospheric data and the grid ionospheric data broadcast by the satellite-based augmentation system, the wide-area differential grid ionospheric data after the adjustment can be replaced by the grid ionospheric data broadcast by the satellite-based augmentation system to obtain the target ionospheric data. Since the target ionospheric data combines the wide-area differential grid ionospheric data after the adjustment of the abnormal data and the grid ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data has both the high resolution of the wide-area differential grid ionospheric data and the high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system, so that the accuracy and availability of the ionospheric delay correction using the grid ionospheric data can be improved.

[0041] In one embodiment, the abnormal data adjustment on the first grid ionospheric data in the initial ionospheric data includes: In the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, or the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, the first grid ionospheric data in the initial ionospheric data is subjected to the abnormal value elimination and the invalid value interpolation in sequence. In the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, the first grid ionospheric data in the initial ionospheric data is subjected to the abnormal value elimination.

[0042] Further, after the abnormal data adjustment on the first grid ionospheric data in the initial ionospheric data, the method further includes: In the case that the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, the adjusted first grid ionospheric data is determined as the target ionospheric data.

[0043] It should be noted that the wide-area differential grid ionospheric data broadcast by Beidou II may have the case that the ionospheric delay of some grid points is too large compared with the adjacent latitude band, which is not consistent with the actual change of the ionosphere. At the same time, there is also the case that the data of the two grid points before and after the same longitude line or latitude line are valid, but the data of the middle grid point is invalid. Therefore, the present application can perform outlier rejection or outlier rejection and invalid value interpolation preprocessing on the first grid ionospheric data in the initial ionospheric data according to the acquisition condition of the ionospheric data (that is, the data contained in the initial ionospheric data) to adjust the abnormal data in the first grid ionospheric data.

[0044] Specifically, if the initial ionospheric data contains the first grid ionospheric data and does not contain the second grid ionospheric data, that is, only contains the wide-area differential grid ionospheric data and does not contain any grid ionospheric data broadcast by the satellite-based augmentation system, the first grid ionospheric data in the initial ionospheric data can be first subjected to outlier rejection, and then the first grid ionospheric data subjected to outlier rejection is further subjected to invalid value interpolation.

[0045] If the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, the first grid ionospheric data in the initial ionospheric data can be first subjected to outlier rejection, and then the first grid ionospheric data subjected to outlier rejection is further subjected to invalid value interpolation. The preset grid band can be 6-8 grid bands.

[0046] Therefore, when the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of 6-8 grid bands (that is, the ionospheric data in 6-8 grid bands is not collected), the first grid ionospheric data in the initial ionospheric data can be first subjected to outlier rejection, and then the first grid ionospheric data subjected to outlier rejection is further subjected to invalid value interpolation.

[0047] If the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, only the first grid ionospheric data in the initial ionospheric data is subjected to outlier rejection.

[0048] That is, when the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of 6-8 grid bands, only the first grid ionospheric data in the initial ionospheric data is subjected to outlier rejection.

[0049] More specifically, before the abnormal data adjustment of the first grid ionospheric data, the wide-area differential grid ionospheric data of COMPASS No. 2 is divided into two tables and respectively broadcast to users, so as to facilitate data processing, the two grid tables can be combined.

[0050] Further, for the abnormal value elimination, the present application can traverse the longitude line at intervals of 5°, check the grid points on the same longitude line, and eliminate according to the situation: Abnormal case 1: in the same longitude zone, the latitude interval is 2.5°, if the data of the adjacent three grid points are all valid, but the delay of the data of the middle grid point is lower than that of the two adjacent grid points by more than 4 meters (m, m is the unit of ionospheric delay), and the delay of the data of the two adjacent grid points is greater than 5m, then the middle grid point is set to invalid and eliminated.

[0051] Abnormal case 2: in the same longitude zone, the latitude interval is 5°, if the data of the adjacent three grid points are all valid, but the delay of the data of the middle grid point is lower than that of the two adjacent grid points by more than 5m, and the delay of the data of the two adjacent grid points is greater than 6m, then the middle grid point is set to invalid and eliminated.

[0052] Abnormal case 3: in the same longitude zone, the latitude interval is 2.5°, the data of only two adjacent grid points is valid, if the delay of the data of the low-latitude grid point is greater than 11m and higher than that of the high-latitude grid point by more than 8m, then the high-latitude grid point is set to invalid; if the delay of the data of the high-latitude grid point is greater than 11m and higher than that of the low-latitude grid point by more than 8m, then the low-latitude grid point is set to invalid and eliminated.

[0053] Abnormal case 4: in the same longitude zone, the latitude interval is 5°, the data of only two adjacent grid points is valid, if the delay of the data of the low-latitude grid point is less than 8m and lower than that of the high-latitude grid point by more than 10m, and the delay of the data of the high-latitude grid point is greater than 11m, then the low-latitude grid point is set to invalid and eliminated.

[0054] For invalid value interpolation, after completing the abnormal value elimination, the longitude line and the latitude line can be respectively traversed at intervals of 5° and 2.5°, and the grid points on the same longitude line or latitude line are checked. For the three consecutive grid points, if the data of the middle grid point is invalid and the data of the two adjacent grid points is valid, then the delay of the data of the middle grid point is interpolated by the two grid points with valid data, and the middle grid point is set to the grid point with valid data.

[0055] In the present application, the data of each grid point in the first grid ionospheric data and the second grid ionospheric data can be determined to be valid or invalid by the following method: For the obtained Beidou wide-area differential grid ionospheric data, set the effective error threshold of the delay amount as K1, and when the grid points of this type meet the following formula requirements, the data is determined to be valid: ; Among them, and respectively represent the vertical ionospheric delay amount and the error value of the Beidou wide-area differential grid ionospheric data.

[0056] For the obtained grid ionospheric data broadcast by the Beidou satellite-based augmentation system, set the effective error threshold of the delay amount as K2, and when the grid points of this type meet the following formula requirements, the data is determined to be valid: ; Among them, and respectively represent the vertical ionospheric delay amount and the error value of the grid data broadcast by the Beidou satellite-based augmentation system.

[0057] Among them, the values of the effective error thresholds K1 and K2 can be selected in combination with the grid ionospheric delay amount error table given in the Beidou Interface Control Document (ICD) file and actual requirements. In this application, K1 can be taken as 9m, and K2 can be taken as 6m.

[0058] Thus, the abnormal data adjustment of the first grid ionospheric data can be completed.

[0059] It should be noted that when the initial ionospheric data includes the first grid ionospheric data but does not include the second grid ionospheric data, the adjusted first grid ionospheric data can be directly determined as the target ionospheric data, that is, the adjusted wide-area differential grid ionospheric data is used as the final grid ionospheric data.

[0060] By adjusting the abnormal data of the wide-area differential grid ionospheric data, the wide-area differential grid ionospheric data can be adjusted to a spatially continuous and numerically reliable prior field, so that the grid ionospheric data broadcast by the satellite-based augmentation system can accurately replace the adjusted wide-area differential grid ionospheric data to obtain target ionospheric data that combines the wide-area differential grid ionospheric data after adjusting the abnormal data and the grid ionospheric data broadcast by the satellite-based augmentation system. The target ionospheric data has both the high resolution of the wide-area differential grid ionospheric data and the high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system, so the accuracy and usability of using grid ionospheric data for ionospheric delay correction can be improved.

[0061] In one embodiment, the data replacement of the adjusted first grid ionospheric data based on the second grid ionospheric data comprises: The grid point with invalid data in the adjusted first grid ionospheric data is determined as a target grid point; the data validity and invalidity of the grid point is determined by the vertical ionospheric delay and its error broadcast by the grid point; According to the data valid grid point corresponding to the target grid point in the second grid ionospheric data, the target grid point in the first grid ionospheric data is replaced.

[0062] Specifically, the application can traverse the latitude band with latitude being a multiple of 5° in the adjusted Beidou wide-area differential grid ionospheric data, extract the grid points with invalid data, and further find the corresponding grid points in the grid ionospheric data broadcast by the Beidou satellite-based augmentation system according to the longitude and latitude of the grid points with invalid data, respectively. If the grid point data is valid, the corresponding grid point with invalid data in the Beidou wide-area differential grid ionospheric data is replaced.

[0063] In addition, the grid ionospheric data of the latitude band of 7.5° north latitude can be interpolated from the grid ionospheric data of the latitude bands of 5° and 10° north latitude broadcast by the Beidou satellite-based augmentation system.

[0064] Further, the grid points with invalid data in the latitude band of 7.5° north latitude in the Beidou wide-area differential grid ionospheric data are replaced by the corresponding grid points in the valid grid ionospheric data obtained by interpolation.

[0065] Thus, the target ionospheric data can be obtained.

[0066] The application replaces the adjusted wide-area differential grid ionospheric data with the grid ionospheric data broadcast by the satellite-based augmentation system to obtain the target ionospheric data. Since the target ionospheric data combines the wide-area differential grid ionospheric data after adjusting the abnormal data and the grid ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data has both the high resolution of the wide-area differential grid ionospheric data and the high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system, thereby improving the accuracy and availability of ionospheric delay correction using the grid ionospheric data.

[0067] In one embodiment, the data replacement of the target grid point in the first grid ionospheric data according to the data valid grid point corresponding to the target grid point in the second grid ionospheric data comprises: Based on a preset conversion coefficient, the data valid grid point corresponding to the target grid point in the second grid ionospheric data is numerically adjusted; According to the numerically adjusted grid point, the target grid point in the first grid ionospheric data is replaced.

[0068] Specifically, considering that the reference frequencies based on which the ionospheric vertical delays of the two types of grid ionospheric data are broadcast are different, wherein the grid ionospheric data of the Beidou wide-area differential is based on the B1I frequency point, and the grid ionospheric data broadcast by the Beidou satellite-based augmentation system is based on the B1C frequency point. Therefore, when replacing the invalid grid points, it is necessary to multiply the delay broadcast value of the data of the grid point of the Beidou satellite-based augmentation system by a preset conversion coefficient before replacement.

[0069] The conversion coefficient is The calculation formula is as follows: ; Wherein, and represent the frequencies corresponding to the B1C frequency point and the B1I frequency point respectively, The value of the conversion coefficient can be , The value of the conversion coefficient can be .

[0070] The present application adjusts the grid points in the second grid ionospheric data to unify the wide-area differential grid ionospheric data and the grid ionospheric data broadcast by the satellite-based augmentation system, so that the first grid ionospheric data can be accurately replaced by the second grid ionospheric data, and then the target ionospheric data with high resolution of the wide-area differential grid ionospheric data and high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system is obtained, so that the accuracy and usability of using grid ionospheric data to correct ionospheric delay can be improved.

[0071] In one embodiment, after the adjusted first grid ionospheric data is replaced based on the second grid ionospheric data, it further comprises: Optimizing the target ionospheric data to obtain the optimized target ionospheric data.

[0072] Specifically, considering that the comprehensive grid ionospheric data (i.e. target ionospheric data) is optimized based on the Beidou wide-area differential grid ionospheric data, the data optimization can be performed in the present application to improve the data quality of the target ionospheric data, and the optimized target ionospheric data is obtained.

[0073] Specifically, the present application can perform outlier rejection or outlier rejection and invalid value interpolation on the target ionospheric data, and the grid ionospheric data finally used for calculating the ionospheric delay is obtained after processing.

[0074] The application can effectively improve the data quality of grid ionospheric data used for calculating ionospheric delay by optimizing the target ionospheric data, and help to improve the accuracy and availability of ionospheric delay correction using grid ionospheric data.

[0075] Figure 2 is a second flowchart of the grid ionospheric data calculation method provided by the embodiment of the application, as shown in the figure, Figure 2 The grid ionospheric data calculation method can include: Step 1: Obtain Beidou wide-area differential grid ionospheric data and grid ionospheric data broadcast by Beidou satellite-based augmentation system from original GNSS message information.

[0076] Step 2: According to the data acquisition of step 1, classify and preprocess the Beidou wide-area differential grid data (i.e. Beidou wide-area differential grid ionospheric data).

[0077] Step 3: Judge the validity of the two types of grid ionospheric data obtained after step 1 and step 2 respectively, replace the invalid grid points in the Beidou wide-area differential grid data with the valid grid ionospheric data broadcast by the Beidou satellite-based augmentation system, and obtain the optimized comprehensive grid ionospheric data.

[0078] Step 4: Perform data quality check on the comprehensive grid ionospheric data optimized in step 3 again to obtain the final grid ionospheric data for calculation.

[0079] Figure 3 is a third flowchart of the grid ionospheric data calculation method provided by the embodiment of the application, as shown in the figure, Figure 3 The grid ionospheric data calculation method can include: Determine whether SBAS grid ionospheric data is received.

[0080] If no SBAS grid ionospheric data is received, only the Beidou wide-area differential grid data is used for outlier rejection and invalid point interpolation to obtain the final grid ionospheric data for calculation.

[0081] If SBAS grid ionospheric data is received, it is determined whether the SBAS grid ionospheric data is complete (i.e. whether data of all grid points in 6-8 grid bands is received), if yes, only the Beidou wide-area differential grid data is subjected to outlier rejection; if not, the Beidou wide-area differential grid data is subjected to outlier rejection and invalid point interpolation.

[0082] Further, the points of IGP1-160 in the Beidou wide-area differential grid data are traversed first, and the valid points in the SBAS grid (ionospheric) data are used to replace the invalid points with the same latitude and longitude.

[0083] Further, the effective data in the 5° and 10° latitude bands in the SBAS grid (ionospheric) data is interpolated to obtain data in the 7.5° latitude band.

[0084] Further, the effective points in the interpolated SBAS grid (ionospheric) data are used to replace the invalid points in the 7.5° latitude band in the Beidou wide-area differential grid data.

[0085] Further, the outlier elimination and invalid value interpolation are performed again on the Beidou wide-area differential grid data (i.e., the Beidou wide-area differential grid data after replacement) to obtain the final grid ionospheric data for calculation.

[0086] The grid ionospheric data calculation device provided in the present application is described below, and the grid ionospheric data calculation device described below can be referred to in correspondence with the grid ionospheric data calculation method described above.

[0087] Further, the present application also provides a grid ionospheric data calculation device.

[0088] The grid ionospheric data calculation device comprises: An extraction module configured to extract ionospheric data based on the message information to obtain initial ionospheric data; An adjustment module configured to adjust abnormal data in first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; A replacement module configured to, in a case where the initial ionospheric data contains the first grid ionospheric data and second grid ionospheric data, replace the first grid ionospheric data after adjustment based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0089] The grid ionospheric data calculation device of the application obtains initial ionospheric data by extracting ionospheric data from the message information, and adjusts abnormal data in the wide-area differential grid ionospheric data in the initial ionospheric data. In the case that the initial ionospheric data contains wide-area differential grid ionospheric data and grid ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data can be obtained by replacing the adjusted wide-area differential grid ionospheric data with the grid ionospheric data broadcast by the satellite-based augmentation system. Since the target ionospheric data combines the wide-area differential grid ionospheric data after adjusting abnormal data and the grid ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data has high resolution of the wide-area differential grid ionospheric data and high coverage of the grid ionospheric data broadcast by the satellite-based augmentation system, so that the accuracy and availability of ionospheric delay correction using grid ionospheric data can be improved.

[0090] In one embodiment, the adjustment module is specifically configured to: In the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, or the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, the first grid ionospheric data in the initial ionospheric data is subjected to abnormal value elimination and invalid value interpolation in sequence. In the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, the first grid ionospheric data in the initial ionospheric data is subjected to abnormal value elimination.

[0091] In one embodiment, the adjustment module is further configured to: In the case that the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, the first grid ionospheric data after adjustment is determined as the target ionospheric data.

[0092] In one embodiment, the replacement module is specifically configured to: The grid point with invalid data in the first grid ionospheric data after adjustment is determined as the target grid point; the data validity and invalidity of the grid point is determined by the vertical ionospheric delay and its error broadcast by the grid point; According to the grid point with valid data corresponding to the target grid point in the second grid ionospheric data, the target grid point in the first grid ionospheric data is replaced.

[0093] In one embodiment, the replacement module is further configured to: Based on a preset conversion coefficient, a numerical adjustment is performed on a grid point in the second grid ionospheric data corresponding to the target grid point. According to the numerically adjusted grid point, the target grid point in the first grid ionospheric data is replaced.

[0094] In one embodiment, the replacement module is further configured to: The target ionospheric data is optimized to obtain optimized target ionospheric data.

[0095] Figure 4 An example of an entity structure diagram of an electronic device is shown in Figure 4 As shown, the electronic device can include a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other through the communications bus 440. The processor 410 can invoke the logical instructions in the memory 430 to perform the following method: based on the electric text information, ionospheric data extraction is performed to obtain initial ionospheric data; The first grid ionospheric data in the initial ionospheric data is adjusted for abnormal data; the first grid ionospheric data is wide-area differential grid ionospheric data; In a case where the first grid ionospheric data and the second grid ionospheric data are included in the initial ionospheric data, the first grid ionospheric data after adjustment is replaced based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0096] In addition, the logical instructions in the memory 430 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts that essentially contribute to the related art or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0097] In another aspect, the embodiments of the present application also provide a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method provided by the above embodiments, for example, including: extracting ionospheric data based on electric text information to obtain initial ionospheric data; adjusting abnormal data in first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; in a case where the initial ionospheric data includes the first grid ionospheric data and second grid ionospheric data, replacing the adjusted first grid ionospheric data with second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0098] In another aspect, the embodiments of the present application also provide a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method provided by the above embodiments, for example, including: extracting ionospheric data based on electric text information to obtain initial ionospheric data; adjusting abnormal data in first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; in a case where the initial ionospheric data includes the first grid ionospheric data and second grid ionospheric data, replacing the adjusted first grid ionospheric data with second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

[0099] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement without creative labor.

[0100] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the description of the above embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the present application, and are not limiting to the present application. Although the present application is described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present application do not deviate from the spirit and scope of the present application.

Claims

1. A method of calculating ionospheric data from a grid, characterized in that, The method comprises the steps of: extracting ionospheric data based on electric text information to obtain initial ionospheric data; adjusting abnormal data in the first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; in the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data, replacing the adjusted first grid ionospheric data based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

2. The method of claim 1, wherein, The method comprises the steps of: determining a target grid point in the adjusted first grid ionospheric data as a data invalid grid point; the data validity and invalidity of a grid point is determined by the vertical ionospheric delay and its error broadcast by the grid point; replacing the target grid point in the first grid ionospheric data with the data valid grid point corresponding to the target grid point in the second grid ionospheric data.

3. The ionospheric grid data calculation method of claim 2, wherein, The method comprises the steps of: based on a preset conversion coefficient, adjusting the numerical value of the data valid grid point corresponding to the target grid point in the second grid ionospheric data; replacing the target grid point in the first grid ionospheric data with the numerically adjusted grid point.

4. The ionospheric grid data calculation method of claim 1, wherein, The method comprises the steps of: in the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of a preset grid band, or the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, sequentially performing outlier rejection and invalid value interpolation on the first grid ionospheric data in the initial ionospheric data; in the case that the initial ionospheric data contains the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of a preset grid band, performing outlier rejection on the first grid ionospheric data in the initial ionospheric data.

5. The ionospheric grid data calculation method of claim 1, wherein, After the step of adjusting abnormal data in the first grid ionospheric data in the initial ionospheric data, the method further comprises the steps of: in the case that the initial ionospheric data contains the first grid ionospheric data but does not contain the second grid ionospheric data, determining the adjusted first grid ionospheric data as target ionospheric data.

6. The ionospheric grid data calculation method of claim 1, wherein, After the step of replacing the adjusted first grid ionospheric data with the second grid ionospheric data, the method further comprises the steps of: optimizing the target ionospheric data to obtain optimized target ionospheric data.

7. A grid ionospheric data computing device, characterized by The method comprises the steps of: an extraction module configured to extract ionospheric data based on electric text information to obtain initial ionospheric data; An adjusting module is configured to perform abnormal data adjustment on first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data; A replacing module is configured to, in a case where the initial ionospheric data contains the first grid ionospheric data and second grid ionospheric data, perform data replacement on the adjusted first grid ionospheric data based on the second grid ionospheric data to obtain target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by a satellite-based augmentation system.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the grid ionospheric data calculation method according to any one of claims 1 to 6.

9. A storage medium, which is a non-transitory computer-readable storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the grid ionospheric data calculation method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the grid ionospheric data calculation method according to any one of claims 1 to 6.

Images