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

Abstract

This application relates to the field of communication technology, and provides a method, apparatus, device, storage medium, and program product for calculating gridded ionospheric data. The method includes: extracting ionospheric data based on message information to obtain initial ionospheric data; adjusting the first gridded ionospheric data in the initial ionospheric data for abnormal data; the first gridded ionospheric data is wide-area differential gridded ionospheric data; in the case where the initial ionospheric data includes the first gridded ionospheric data and the second gridded ionospheric data broadcast by a satellite-based augmentation system, replacing the adjusted first gridded ionospheric data based on the second gridded ionospheric data to obtain target ionospheric data. The final ionospheric data of this application combines the wide-area differential gridded ionospheric data after adjusting for abnormal data with the gridded ionospheric data broadcast by the satellite-based augmentation system, which can improve the accuracy and usability of using gridded ionospheric data for ionospheric delay correction.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a grid ionospheric data calculation method, apparatus, device, storage medium, and program product. Background Technology

[0002] Satellite navigation and positioning systems such as the Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), and Galileo provide high-precision position, velocity, and time information globally. However, these systems are affected by various error sources when providing services, with ionospheric delay being one of the main sources. The ionosphere is a region of charged particles in the Earth's atmosphere caused by solar radiation. When electromagnetic wave signals pass through the ionosphere, their propagation speed and direction change, thus affecting the final positioning result. To improve positioning accuracy, appropriate methods are needed to correct for ionospheric delay.

[0003] Different ionospheric delay correction methods are used in receivers operating under different positioning modes. Dual-frequency or multi-frequency positioning modes typically eliminate ionospheric delay errors through a linear combination of observations at different frequencies; while single-frequency positioning modes require the use of ionospheric delay correction models or algorithms. Each Global Navigation Satellite System (GNSS) broadcasts different broadcast ionospheric models. Specifically, the BeiDou Navigation Satellite System, to improve the accuracy of ionospheric delay correction for real-time single-frequency users, broadcasts wide-area differential grid ionospheric data and grid ionospheric data in the BeiDou Satellite Based Augmentation System (BDSBAS), thus meeting the needs of different users through two types of ionospheric grid products.

[0004] Currently, when using gridded ionospheric data for ionospheric delay error correction, users of the BeiDou Navigation Satellite System select one of two types of broadcast gridded ionospheric data based on their needs and conditions. However, while wide-area differential gridded ionospheric data offers high resolution, its effective grid point coverage is limited, and some grid points have low availability. In contrast, the BeiDou satellite-based augmentation system offers wider effective grid point coverage but relatively lower resolution. This results in insufficient availability or accuracy of gridded ionospheric data, making it unusable for ionospheric delay error correction, or ensuring insufficient accuracy when using it for such correction. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a grid ionospheric data calculation method, apparatus, device, 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 of using grid ionospheric data for ionospheric delay error correction.

[0006] The grid ionospheric data calculation method according to the first aspect of this application includes: Ionospheric data is extracted based on the message information 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 the case where the initial ionospheric data includes 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 the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

[0007] According to one embodiment of this application, the data replacement of the adjusted first grid ionosphere data based on the second grid ionosphere data includes: The grid points with invalid data in the adjusted first grid ionospheric data are identified as target grid points; the validity and invalidity of data in a grid point are determined by the vertical ionospheric delay and its error in the grid point broadcast. Replace the target grid point in the first grid ionospheric data with the valid grid point corresponding to the target grid point in the second grid ionospheric data.

[0008] According to one embodiment of this application, replacing the target grid point in the first grid ionospheric data with a data-valid grid point in the second grid ionospheric data corresponding to the target grid point includes: Based on a preset conversion coefficient, the effective grid points in the second grid ionospheric data that correspond to the target grid point are numerically adjusted. Replace the target grid points in the first grid ionospheric data with the grid points that have been adjusted according to the values.

[0009] According to one embodiment of this application, the abnormal data adjustment of the first grid ionospheric data in the initial ionospheric data includes: If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, or if the initial ionospheric data includes the first grid ionospheric data but does not include the second grid ionospheric data, then outlier removal and invalid value interpolation are performed on the first grid ionospheric data in the initial ionospheric data. If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, outlier removal is performed on the first grid ionospheric data in the initial ionospheric data.

[0010] According to one embodiment of this application, after adjusting the anomalous data in the first grid ionospheric data of the initial ionospheric data, the method further includes: If 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 is determined as the target ionospheric data.

[0011] According to one embodiment of this application, after replacing the adjusted first grid ionosphere data based on the second grid ionosphere data, the method further includes: The target ionospheric data is optimized to obtain optimized target ionospheric data.

[0012] A grid ionospheric data computing apparatus according to a second aspect embodiment of this application includes: The extraction module is used to extract ionospheric data based on the message information to obtain initial ionospheric data; The adjustment module is used to adjust the 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. The replacement module is used to replace the adjusted first grid ionospheric data with the second grid ionospheric data when the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data, so as to obtain the target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by the satellite-based augmentation system.

[0013] An electronic device according to a third aspect of this application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the grid ionospheric data calculation methods described above.

[0014] According to a fourth aspect of this application, the storage medium is a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the grid ionospheric data calculation method as described above.

[0015] A computer program product according to a fifth aspect of this application includes a computer program that, when executed by a processor, implements a grid ionospheric data calculation method as described above.

[0016] The above-described one or more technical solutions in the embodiments of this application have at least the following technical effects: Initial ionospheric data is obtained by extracting ionospheric data from the message information. Anomaly adjustments are then made to the wide-area differential gridded ionospheric data within the initial ionospheric data. Given that the initial ionospheric data includes both wide-area differential gridded ionospheric data and gridded ionospheric data broadcast by the satellite-based augmentation system (SBA), the adjusted wide-area differential gridded ionospheric data can be replaced with the gridded ionospheric data broadcast by the SBA to obtain the target ionospheric data. Since the target ionospheric data combines the adjusted wide-area differential gridded ionospheric data with the gridded ionospheric data broadcast by the SBA, it possesses both the high resolution of the wide-area differential gridded ionospheric data and the high coverage of the gridded ionospheric data broadcast by the SBA. Therefore, the accuracy and usability of using gridded ionospheric data for ionospheric delay correction can be improved.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the flowcharts illustrating the grid ionospheric data calculation method provided in the embodiments of this application.

[0020] Figure 2 This is the second flowchart illustrating the grid ionospheric data calculation method provided in the embodiments of this application.

[0021] Figure 3 This is the third flowchart illustrating the grid ionospheric data calculation method provided in this application embodiment.

[0022] Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] It should be noted that the BeiDou Navigation Satellite System broadcasts wide-area differential gridded ionospheric information in the D2 type messages of the BeiDou-2 geostationary orbit (GEO) satellites, as well as gridded ionospheric information in the BeiDou satellite-based augmentation system. The D2 type message is a high-rate navigation message format broadcast by GEO satellites in the BeiDou-2 system, containing basic navigation parameters and wide-area augmentation service information to provide positioning services with higher accuracy and integrity.

[0025] It should be further noted that the two types of gridded ionospheric data broadcast by the BeiDou Navigation Satellite System each have their advantages and limitations. The low resolution of the grid division increases the interpolation error of the ionospheric delay at the puncture point. Furthermore, the presence of invalid grid points affects the geometric distribution of grid points during interpolation, leading to increased interpolation errors or even making it impossible to select enough valid grids for interpolation, thus forcing users to use the broadcast ionospheric model for correction calculations. Therefore, for receiver users who can receive both types of gridded ionospheric data simultaneously, using only one type of gridded ionospheric data will limit the accuracy of their ionospheric delay correction.

[0026] Based on this, this application proposes a grid ionospheric data calculation method, apparatus, device, storage medium, and program product. By combining two types of grid ionospheric data, it simultaneously possesses the high resolution of the BeiDou-2 wide-area differential grid ionospheric data and the high coverage of the BeiDou satellite-based augmentation system grid ionospheric data. The aim is to improve the accuracy and usability of GNSS receiver users when using the grid ionospheric data of the BeiDou satellite navigation system for ionospheric delay correction.

[0027] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and regulations of the locality and with authorization from the owner of the relevant device.

[0028] Figure 1This is one of the flowcharts illustrating the grid ionospheric data calculation method provided in this application embodiment, such as... Figure 1 As shown, the method for calculating the grid ionospheric data includes: Step 110: Extract ionospheric data based on the message information to obtain initial ionospheric data.

[0029] Step 120: Adjust the abnormal data of the first grid ionospheric data in the initial ionospheric data; the first grid ionospheric data is wide-area differential grid ionospheric data.

[0030] Step 130: If the initial ionospheric data includes first grid ionospheric data and second grid ionospheric data, the adjusted first grid ionospheric data is replaced based on the second grid ionospheric data to obtain the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

[0031] It should be noted that the execution subject of the grid ionospheric data calculation method provided in this application embodiment can be a computer device, such as a mobile phone, tablet computer, laptop computer, handheld computer, vehicle electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc.

[0032] Specifically, in this application, GNSS receiver users (specifically, BeiDou satellite navigation system receiver users) can receive GNSS message information through their receivers. The GNSS message information is a low-speed structured data stream transmitted from the satellite navigation system to the receiver, which may contain data such as satellite position, time information, and orbital parameters, used to achieve precise positioning, timing, and error correction.

[0033] Furthermore, wide-area differential grid ionospheric data (specifically, BeiDou wide-area differential grid ionospheric data, which can be defined as first grid ionospheric data in this application) and grid ionospheric data broadcast by the satellite-based augmentation system (specifically, BeiDou satellite-based augmentation system in this application) (which can be defined as second grid ionospheric data in this 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 the 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 completing the data preprocessing of the first grid ionospheric data, if the initial ionospheric data includes both 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. The resulting composite ionospheric data is then determined as the target ionospheric data.

[0039] Furthermore, GNSS receiver users can calculate the ionospheric delay based on the target ionospheric data and then correct for the ionospheric delay.

[0040] According to the grid ionospheric data calculation method of this application embodiment, initial ionospheric data is obtained by extracting ionospheric data from the message information. Anomaly adjustment is then performed on the wide-area differential grid ionospheric data in the initial ionospheric data. Furthermore, when the initial ionospheric data includes both wide-area differential grid ionospheric data and grid ionospheric data broadcast by a satellite-based augmentation system (SBA), the adjusted wide-area differential grid ionospheric data can be replaced with the grid ionospheric data broadcast by the SBA to obtain target ionospheric data. Since the target ionospheric data combines the wide-area differential grid ionospheric data with adjusted anomaly data and the grid ionospheric data broadcast by the SBA, the target ionospheric data simultaneously possesses the high resolution of the wide-area differential grid ionospheric data and the high coverage of the grid ionospheric data broadcast by the SBA. Therefore, the accuracy and usability of using grid ionospheric data for ionospheric delay correction can be improved.

[0041] In one embodiment, adjusting the outlier data in the first grid of initial ionospheric data includes: In cases where the initial ionospheric data includes 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 includes the first grid ionospheric data but does not include the second grid ionospheric data, outlier removal and invalid value interpolation are performed on the first grid ionospheric data in the initial ionospheric data in sequence. If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, outlier removal is performed on the first grid ionospheric data in the initial ionospheric data.

[0042] In addition, after adjusting for outliers in the first grid of ionospheric data in the initial ionospheric data, the following is also included: If the initial ionospheric data includes the first grid ionospheric data but not 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-2 may contain some grid points with excessively large differences in ionospheric delay compared to adjacent latitude bands, which does not reflect the actual changes in the ionosphere. Furthermore, there are instances where two consecutive grid points on the same longitude or latitude line are valid, but intermediate grid points are invalid. Therefore, this application can, based on the acquisition details of the ionospheric data (i.e., the data inclusion in the initial ionospheric data), perform outlier removal or outlier removal and invalid value interpolation preprocessing on the first grid ionospheric data in the initial ionospheric data to adjust the abnormal data in the first grid ionospheric data.

[0044] Specifically, if the initial ionospheric data includes first grid ionospheric data but not second grid ionospheric data, that is, only wide-area differential grid ionospheric data but not any grid ionospheric data broadcast by satellite-based augmentation systems, then outlier removal can be performed on the first grid ionospheric data in the initial ionospheric data, and invalid value interpolation can be performed on the first grid ionospheric data after outlier removal.

[0045] If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data in the preset grid band, then outlier removal can be performed on the first grid ionospheric data in the initial ionospheric data, followed by invalid value interpolation on the outlier-removed first grid ionospheric data. The preset grid band can be three grid bands: 6-8.

[0046] Therefore, when the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data in grids 6-8 (i.e., the ionospheric data in grids 6-8 are not collected), outlier removal can be performed on the first grid ionospheric data in the initial ionospheric data, and invalid value interpolation can be performed on the first grid ionospheric data after outlier removal.

[0047] If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, then only the first grid ionospheric data in the initial ionospheric data will be removed as outliers.

[0048] That is, when the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the 6-8 grid band, outlier removal is only performed on the first grid ionospheric data in the initial ionospheric data.

[0049] More specifically, before adjusting the abnormal data of the first grid ionospheric data, since the wide-area differential grid ionospheric data of Beidou-2 is broadcast to users in two separate tables, the two grid tables can be merged to facilitate data processing.

[0050] Furthermore, for outlier removal, this application can traverse the longitude line at 5° intervals, check the grid points on the same longitude line, and remove them as appropriate: Abnormal situation 1: In the same longitude zone with a latitude interval of 2.5°, if the data of three adjacent grid points are all valid, but the delay of the data of the middle grid point is more than 4 meters (m, where m is the unit of ionospheric delay) lower than the data of the two grid points before and after it, and the delay of the data of the two grid points before and after it is greater than 5 meters, then the middle grid point is set as invalid and removed.

[0051] Abnormal situation 2: In the same longitude zone with a latitude interval of 5°, if the data of three adjacent grid points are all valid, but the delay of the data of the middle grid point is more than 5m lower than that of the two grid points before and after it, and the delay of the data of the two grid points before and after it is greater than 6m, then the middle grid point is set as invalid and removed.

[0052] Abnormal situation 3: Within the same longitude zone, with a latitude interval of 2.5°, only two adjacent grid points are valid. If the delay of the data from the lower latitude grid point is greater than 11m and more than 8m higher than the delay of the data from the higher latitude grid point, then the higher latitude grid point is invalidated. If the delay of the data from the higher latitude grid point is greater than 11m and more than 8m higher than the delay of the data from the lower latitude grid point, then the lower latitude grid point is invalidated and removed.

[0053] Abnormal situation 4: In the same longitude zone, with a latitude interval of 5°, only two adjacent grid points are valid. If the delay of the data of the low latitude grid point is less than 8m and more than 10m lower than the delay of the data of the high latitude grid point, and the delay of the data of the high latitude grid point is greater than 11m, then the low latitude grid point is invalidated and removed.

[0054] For invalid value interpolation, after outlier removal, the longitude and latitude lines are traversed at 5° and 2.5° intervals respectively, checking the grid points on the same longitude or latitude line. For three consecutive grid points, if the data of the middle grid point is invalid while the data of the two adjacent grid points is valid, the data of the middle grid point is interpolated by the delay amount of the data of the two valid grid points, and then it is set as the valid grid point.

[0055] Specifically, this application can determine the validity of the data at each grid point in the first grid ionospheric data and the second grid ionospheric data in the following manner: For the acquired BeiDou wide-area differential grid ionospheric data, if the effective error threshold for its delay is set to K1 (in meters), then the data is considered valid when the grid points meet the following formula requirements: ; in, and These represent the vertical ionospheric delay and its error value in the BeiDou wide-area differential grid ionospheric data, respectively.

[0056] For the gridded ionospheric data acquired from the BeiDou satellite-based augmentation system, if the effective error threshold for its delay is set to K2 (in meters), then the data is considered valid when the grid points meet the following formula requirement: ; in, and These represent the vertical ionospheric delay and its error value for the grid data broadcast by the BeiDou satellite-based augmentation system.

[0057] The effective error thresholds K1 and K2 can be selected by combining the grid ionospheric delay error table given in the Beidou Interface Control Document (ICD) file and actual requirements. In this application, K1 can be set to 9m and K2 to 6m.

[0058] This allows for the adjustment of abnormal data in the first grid of ionospheric data.

[0059] It should be noted that when this application determines that the initial ionospheric data includes the first grid ionospheric data but not 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 can be used as the final grid ionospheric data.

[0060] This application adjusts wide-area differential gridded ionospheric data by performing anomalous data adjustment, transforming it into a spatially continuous and numerically reliable prior field. This allows subsequent gridded ionospheric data broadcast via satellite-based augmentation systems to accurately replace the adjusted wide-area differential gridded ionospheric data, resulting in target ionospheric data that combines the adjusted anomalous data with the gridded ionospheric data broadcast by satellite-based augmentation systems. This target ionospheric data possesses both the high resolution of wide-area differential gridded ionospheric data and the high coverage of gridded ionospheric data broadcast by satellite-based augmentation systems, thus improving the accuracy and usability of using gridded ionospheric data for ionospheric delay correction.

[0061] In one embodiment, replacing the adjusted first grid ionospheric data based on the second grid ionospheric data includes: The grid points with invalid data in the adjusted first grid ionospheric data are identified as target grid points; the validity and invalidity of data in a grid point are determined by the vertical ionospheric delay and its error in the grid point broadcast. Replace the target grid point in the first grid ionospheric data with the valid grid point corresponding to the target grid point in the second grid ionospheric data.

[0062] Specifically, this application can traverse the latitude zones that are multiples of 5° in the adjusted BeiDou wide-area differential grid ionospheric data, extract invalid grid points, and further find the corresponding grid points in the grid ionospheric data broadcast by the BeiDou satellite-based augmentation system based on the latitude and longitude of the invalid grid points. If the grid point data is valid, the corresponding invalid grid point in the BeiDou wide-area differential grid ionospheric data is replaced with that grid point.

[0063] Furthermore, gridded ionospheric data for the 7.5°N latitude zone can be interpolated using gridded ionospheric data for the 5°N and 10°N latitude zones broadcast by the BeiDou satellite-based augmentation system.

[0064] Furthermore, the latitude zone of 7.5° in the BeiDou wide-area differential grid ionospheric data is traversed, and for invalid grid points, the corresponding grid points in the valid grid ionospheric data obtained by interpolation are replaced.

[0065] Therefore, target ionospheric data can be obtained.

[0066] This application uses gridded ionospheric data broadcast by a satellite-based augmentation system to replace adjusted wide-area differential gridded ionospheric data, thus obtaining target ionospheric data. Because the target ionospheric data combines wide-area differential gridded ionospheric data adjusted for anomalous data with gridded ionospheric data broadcast by the satellite-based augmentation system, it possesses both the high resolution of wide-area differential gridded ionospheric data and the high coverage of gridded ionospheric data broadcast by the satellite-based augmentation system. Therefore, it can improve the accuracy and usability of using gridded ionospheric data for ionospheric delay correction.

[0067] In one embodiment, replacing the target grid point in the first grid ionospheric data with a valid grid point corresponding to the target grid point in the second grid ionospheric data includes: Based on the preset conversion coefficient, the effective grid points in the second grid ionospheric data corresponding to the target grid point are numerically adjusted. Replace the target grid points in the first grid ionospheric data with the grid points adjusted according to the values.

[0068] Specifically, considering that the vertical ionospheric delay values ​​broadcast by the two types of grid ionospheric data are based on different reference frequencies—specifically, the BeiDou wide-area differential grid ionospheric data is based on the B1I frequency, while the grid ionospheric data broadcast by the BeiDou satellite-based augmentation system is based on the B1C frequency—it is necessary to multiply the broadcast delay value of the grid point data from the BeiDou satellite-based augmentation system by a preset conversion coefficient before replacing invalid grid points.

[0069] Wherein, the conversion coefficient The calculation formula is as follows: ; in, and These represent the frequencies corresponding to the B1C and B1I frequency points, respectively. Possible values , Possible values .

[0070] This application adjusts the grid points in the second grid ionospheric data numerically to unify the wide-area differential grid ionospheric data with the grid ionospheric data broadcast by the satellite-based augmentation system. This allows the first grid ionospheric data to be accurately replaced by the second grid ionospheric data, thereby obtaining target ionospheric data that simultaneously possesses 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, it can improve the accuracy and usability of using grid ionospheric data for ionospheric delay correction.

[0071] In one embodiment, after replacing the adjusted first grid ionospheric data based on the second grid ionospheric data, the method further includes: The target ionospheric data is optimized to obtain optimized target ionospheric data.

[0072] Specifically, considering that the integrated grid ionospheric data (i.e. the target ionospheric data) is obtained by optimizing the BeiDou wide-area differential grid ionospheric data, this application can optimize the data to improve the data quality of the target ionospheric data and obtain optimized target ionospheric data.

[0073] Specifically, this application can perform outlier removal or outlier removal and invalid value interpolation on the target ionospheric data, and the resulting gridded ionospheric data is the final data used to calculate the ionospheric delay.

[0074] This application optimizes the target ionospheric data, which can effectively improve the data quality of gridded ionospheric data used to calculate ionospheric delay, thereby improving the accuracy and usability of ionospheric delay correction using gridded ionospheric data.

[0075] Figure 2 This is a second schematic flowchart of the grid ionospheric data calculation method provided in the embodiments of this application, as shown below. Figure 2 As shown, the method for calculating grid ionospheric data may include: Step 1: Obtain BeiDou wide-area differential grid ionospheric data and grid ionospheric data broadcast by the BeiDou satellite-based augmentation system from the original GNSS message information.

[0076] Step 2: Based on the data acquired in Step 1, preprocess the BeiDou wide-area differential grid data (i.e., BeiDou wide-area differential grid ionospheric data) by category.

[0077] Step 3: Determine the validity of the two types of grid ionospheric data obtained after Step 1 and Step 2 respectively, and 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 to obtain the optimized integrated grid ionospheric data.

[0078] Step 4: Perform another data quality check on the integrated grid ionospheric data obtained in Step 3 to obtain the final grid ionospheric data used for calculation.

[0079] Figure 3 This is the third flowchart illustrating the grid ionospheric data calculation method provided in this application embodiment, as shown below. Figure 3 As shown, the method for calculating grid ionospheric data may include: Determine if SBAS grid ionospheric data has been received.

[0080] If SBAS grid ionospheric data is not received, only BeiDou wide-area differential grid data will be used to remove outliers and interpolate invalid points to obtain the final grid ionospheric data used for calculation.

[0081] If SBAS grid ionospheric data is received, determine whether the SBAS grid ionospheric data has been received in its entirety (i.e., whether data from all grid points in grid band 6-8 has been received). If so, only outlier removal is performed on the BeiDou wide-area differential grid data; otherwise, outlier removal and invalid point interpolation are performed on the BeiDou wide-area differential grid data.

[0082] Furthermore, first traverse the points IGP1~160 in the BeiDou wide-area differential grid data, and replace the invalid points with the same latitude and longitude with the valid points in the SBAS grid (ionospheric) data.

[0083] We further interpolated the data in the 7.5° latitude band by utilizing the effective data in the 5° and 10° latitude bands of the SBAS grid (ionospheric) data.

[0084] Furthermore, the 7.5° latitude zone in the BeiDou wide-area differential grid data is traversed, and the invalid points in the interpolated SBAS grid (ionospheric) data are replaced with valid points.

[0085] Furthermore, outlier removal 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 used for calculation.

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

[0087] Furthermore, this application also provides a grid ionospheric data computing device.

[0088] The grid ionospheric data computing device includes: The extraction module is used to extract ionospheric data based on the message information to obtain initial ionospheric data; The adjustment module is used to adjust the 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. The replacement module is used to replace the adjusted first grid ionospheric data with the second grid ionospheric data when the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data, so as to obtain the target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by the satellite-based augmentation system.

[0089] The gridded ionospheric data calculation device of this application obtains initial ionospheric data by extracting ionospheric data from message information, and adjusts the wide-area differential gridded ionospheric data in the initial ionospheric data for abnormal data. Then, when the initial ionospheric data contains both wide-area differential gridded ionospheric data and gridded ionospheric data broadcast by a satellite-based augmentation system, the adjusted wide-area differential gridded ionospheric data can be replaced with the gridded ionospheric data broadcast by the satellite-based augmentation system to obtain target ionospheric data. Since the target ionospheric data combines the wide-area differential gridded ionospheric data after adjusting for abnormal data with the gridded ionospheric ionospheric data broadcast by the satellite-based augmentation system, the target ionospheric data simultaneously possesses the high resolution of the wide-area differential gridded ionospheric data and the high coverage of the gridded ionospheric ionospheric data broadcast by the satellite-based augmentation system. Therefore, it can improve the accuracy and usability of using gridded ionospheric data for ionospheric delay correction.

[0090] In one embodiment, the adjustment module is specifically used for: If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, or if the initial ionospheric data includes the first grid ionospheric data but does not include the second grid ionospheric data, then outlier removal and invalid value interpolation are performed on the first grid ionospheric data in the initial ionospheric data. If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, outlier removal is performed on the first grid ionospheric data in the initial ionospheric data.

[0091] In one embodiment, the adjustment module is further configured to: If 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 is determined as the target ionospheric data.

[0092] In one embodiment, the replacement module is specifically used for: The grid points with invalid data in the adjusted first grid ionospheric data are identified as target grid points; the validity and invalidity of data in a grid point are determined by the vertical ionospheric delay and its error in the grid point broadcast. Replace the target grid point in the first grid ionospheric data with the valid grid point corresponding to the target grid point in the second grid ionospheric data.

[0093] In one embodiment, the replacement module is further configured to: Based on a preset conversion coefficient, the effective grid points in the second grid ionospheric data that correspond to the target grid point are numerically adjusted. Replace the target grid points in the first grid ionospheric data with the grid points that have been adjusted according to the values.

[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 is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440. The processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute the following method: extracting ionospheric data based on message information 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 the case where the initial ionospheric data includes 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 the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

[0096] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] In another aspect, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the methods provided in the above embodiments, such as: extracting ionospheric data based on message information 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 the case where the initial ionospheric data includes 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 the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

[0098] In another aspect, embodiments of this application also provide a computer program product having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to perform the methods provided in the above embodiments, such as: extracting ionospheric data based on message information 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 the case where the initial ionospheric data includes 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 the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

[0099] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or 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 this application and are not intended to limit this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A method for calculating gridded ionospheric data, characterized in that, include: Ionospheric data is extracted based on the message information 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 the case where the initial ionospheric data includes 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 the target ionospheric data; the second grid ionospheric data is the grid ionospheric data broadcast by the satellite-based augmentation system.

2. The grid ionospheric data calculation method according to claim 1, characterized in that, The step of replacing the adjusted first grid ionospheric data based on the second grid ionospheric data includes: The grid points with invalid data in the adjusted first grid ionospheric data are identified as target grid points; the validity and invalidity of data in a grid point are determined by the vertical ionospheric delay and its error in the grid point broadcast. Replace the target grid point in the first grid ionospheric data with the valid grid point corresponding to the target grid point in the second grid ionospheric data.

3. The grid ionospheric data calculation method according to claim 2, characterized in that, The step of replacing the target grid point in the first grid ionospheric data with a valid grid point corresponding to the target grid point in the second grid ionospheric data includes: Based on a preset conversion coefficient, the effective grid points in the second grid ionospheric data that correspond to the target grid point are numerically adjusted. Replace the target grid points in the first grid ionospheric data with the grid points that have been adjusted according to the values.

4. The grid ionospheric data calculation method according to claim 1, characterized in that, The adjustment of abnormal data in the first grid ionospheric data of the initial ionospheric data includes: If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data does not include all grid ionospheric data of the preset grid band, or if the initial ionospheric data includes the first grid ionospheric data but does not include the second grid ionospheric data, then outlier removal and invalid value interpolation are performed on the first grid ionospheric data in the initial ionospheric data. If the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data includes all grid ionospheric data of the preset grid band, outlier removal is performed on the first grid ionospheric data in the initial ionospheric data.

5. The grid ionospheric data calculation method according to claim 1, characterized in that, After adjusting the anomalous data in the first grid of the initial ionospheric data, the method further includes: If 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 is determined as the target ionospheric data.

6. The grid ionospheric data calculation method according to claim 1, characterized in that, After replacing the adjusted first grid ionospheric data based on the second grid ionospheric data, the method further includes: The target ionospheric data is optimized to obtain optimized target ionospheric data.

7. A grid-based ionospheric data computing device, characterized in that, include: The extraction module is used to extract ionospheric data based on the message information to obtain initial ionospheric data; The adjustment module is used to adjust the 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. The replacement module is used to replace the adjusted first grid ionospheric data with the second grid ionospheric data when the initial ionospheric data includes the first grid ionospheric data and the second grid ionospheric data, so as to obtain the target ionospheric data; the second grid ionospheric data is grid ionospheric data broadcast by the satellite-based augmentation system.

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

9. A storage medium, said storage medium being a non-transitory computer-readable storage medium, wherein a computer program is stored thereon, characterized in that, When executed by a processor, the computer program implements the grid ionospheric data calculation method as described in any one of claims 1 to 6.

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

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