Observation data processing method and device, electronic equipment and storage medium

Abstract

The invention provides an observation data processing method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring observation data of a ground station, observation data of a low earth orbit satellite and observation data from a target platform; performing coordinate unified processing on the observation data of the ground stations based on the first coordinate system to obtain coordinates of the ground stations after the coordinate unified processing; updating the observation data of the ground stations based on the coordinates of the ground stations subjected to coordinate unified processing to obtain updated observation data; and evaluating the observation data of the enhancement service based on the updated observation data, the observation data of the low-orbit satellite and the observation data of the target platform. According to the invention, the enhancement service can be evaluated.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an observation data processing method, apparatus, electronic device, and storage medium. Background Technology

[0002] To ensure the stable operation of the Global Navigation Satellite System (GNSS) and provide continuous and reliable navigation, positioning, and timing services, it is necessary to evaluate the performance of the observation data involved in GNSS.

[0003] GNSS augmentation services can improve the accuracy, integrity, and reliability of GNSS positioning. However, existing solutions only propose performance evaluation of observation data. How to evaluate the performance of observation data for augmentation services has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides an observation data processing method, apparatus, electronic device, and storage medium that can enable the evaluation of observation data to enhance services.

[0005] Firstly, a method for processing observation data is proposed, the method comprising:

[0006] Acquire observation data from ground stations, low-orbit satellites, and the target platform;

[0007] Based on the observation data of the first coordinate system and the ground station, coordinate unification processing is performed to obtain the coordinates of the ground station after coordinate unification processing;

[0008] The observation data of the ground stations are updated based on the coordinates of the ground stations after the coordinate unification process, to obtain the updated observation data.

[0009] The observation data for the enhanced service is evaluated based on the updated observation data, the observation data from low-Earth orbit satellites, and the observation data from the target platform.

[0010] In one possible implementation, the coordinate unification processing based on the observation data from the first coordinate system and the ground station to obtain the coordinates of the ground station after coordinate unification includes:

[0011] Obtain at least a portion of the frame sites in the first coordinate system;

[0012] The positions of at least some of the frame stations in the first coordinate system are combined with the positions of the ground stations to form a reference network;

[0013] The reference network and the observation data of the ground stations are jointly adjusted to obtain the coordinates of the ground stations after the coordinate unification process.

[0014] In one possible implementation, the observation data of the enhancement service is used to indicate a first parameter of a first indicator of a first enhancement service, the first enhancement service including at least one of ground-based enhancement service and low-Earth orbit navigation enhancement service, and the first indicator including at least one of orbital position and clock error;

[0015] The evaluation of the enhanced service observation data based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data includes:

[0016] The second parameter of the first indicator is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0017] The accuracy of the first indicator of the first enhanced service is evaluated by the difference between the first parameter and the second parameter of the first indicator.

[0018] In one possible implementation, the observation data of the enhancement service is further used to indicate a first parameter of a second indicator of the first enhancement service, wherein the first enhancement service includes at least one of ground-based enhancement service and low-orbit navigation enhancement service, the second indicator includes ionospheric delay, and the first parameter of the second indicator includes a first parameter value corresponding to each grid point in the ionospheric grid.

[0019] The evaluation of the enhanced service observation data based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data includes:

[0020] The second parameter of the second index is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The second parameter of the second index includes the second parameter value corresponding to each grid point in the ionospheric grid.

[0021] The difference between the first parameter value and the second parameter value corresponding to each grid point in the ionospheric grid is determined as the difference between each grid point in the ionospheric grid.

[0022] The accuracy of the second metric of the first enhancement service is evaluated based on the standard deviation of the differences between the grid points in the ionospheric grid.

[0023] In one possible implementation, the observation data of the enhancement service is further used to indicate a first parameter of a third indicator of the first enhancement service, the first enhancement service including at least one of ground-based enhancement service and low-Earth orbit navigation enhancement service, the third indicator including the duration of service interruption; the method further includes:

[0024] The availability of the first enhanced service is evaluated based on the ratio of the first parameter of the third indicator to the duration of the service interruption assessment period of the first enhanced service.

[0025] The third parameter of the third indicator per unit time is obtained by subtracting the duration of the interruption plan of the first enhanced service within the unit time from the first parameter of the third indicator corresponding to the unit time.

[0026] The continuity of the first enhanced service is evaluated based on the third parameter of the third indicator.

[0027] In one implementation, the observation data of the enhancement service is used to indicate a first parameter of a fourth indicator of a first enhancement service, the first enhancement service including at least one of ground-based enhancement service and low-orbit navigation enhancement service, the fourth indicator including positioning results;

[0028] The evaluation of the enhanced service observation data based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data includes:

[0029] The second parameter of the fourth indicator is determined based on the updated observation data, the low-orbit satellite observation data, and the target platform observation data;

[0030] The first parameter and the second parameter of the fourth indicator are processed by coordinate unification to obtain the processed first parameter and the processed second parameter of the fourth indicator.

[0031] The accuracy of the fourth indicator of the first enhanced service is evaluated based on the first difference between the first parameter of the processed fourth indicator and the second parameter of the processed fourth indicator.

[0032] In one possible implementation, the method further includes:

[0033] Samples are taken at the first time interval within the preset positioning time period to obtain multiple first differences;

[0034] Obtain the second difference between each first difference and the preset positioning threshold, and obtain a Boolean function value for each second difference;

[0035] Obtain a first ratio between the duration corresponding to the preset positioning time period and the duration corresponding to the first time interval, and obtain a first sum between the first ratio and the preset parameter value;

[0036] The availability of the fourth metric of the first enhanced service is evaluated based on the ratio between the sum of the Boolean function values ​​corresponding to each second difference and the first sum.

[0037] In one possible implementation, the observation data of the augmentation service is used to instruct the satellite-based augmentation service for multiple first coordinate parameters of the monitoring station over multiple time periods;

[0038] The evaluation of the enhanced service observation data based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data includes:

[0039] The second coordinate parameters of the monitoring station are determined based on the updated observation data, the low-orbit satellite observation data, and the target platform observation data.

[0040] The coordinate difference between each first coordinate parameter and the second coordinate parameter is obtained, and the positioning accuracy of the satellite-based augmentation service is evaluated based on the deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter and the second coordinate parameter.

[0041] In one possible implementation, the observation data of the augmentation service includes the availability time of slowly varying information, the availability time of rapidly varying information, and the availability time of ionospheric information from the satellite-based augmentation service; the method further includes:

[0042] The intersection of the available time for slowly changing information, the available time for rapidly changing information, and the available time for ionospheric information is obtained to get the intersection time.

[0043] The availability of the satellite-based augmentation service is evaluated based on the ratio between the duration of the intersection time and the runtime of the satellite-based augmentation service.

[0044] In one possible implementation, the observation data of the augmentation service is used to indicate the third coordinate parameters of the satellite-based augmentation service for the satellite in which the satellite-based augmentation service is located;

[0045] The evaluation of the enhanced service observation data based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data includes:

[0046] The fourth coordinate parameters of the ground station are determined based on the updated observation data, the low-orbit satellite observation data, and the target platform observation data.

[0047] Determine the distance between the third coordinate parameter and the fourth coordinate parameter, and obtain the first duration between the signal transmitted by the satellite where the satellite-based augmentation service is located and the ground station;

[0048] Obtain the first clock difference of the signal transmitted by the satellite where the satellite-based augmentation service is located and the second clock difference of the signal received by the ground station, and obtain the third difference between the first clock difference and the second clock difference;

[0049] Obtain the first product between the speed of light and the first duration, and obtain the second product between the speed of light and the third difference;

[0050] Subtract the product, the second product, the ionospheric delay correction parameter, and the tropospheric delay correction parameter from the distance between the third coordinate parameter and the fourth coordinate parameter to obtain the satellite ranging error value, and evaluate the satellite ranging error of the satellite-based augmentation service based on the satellite ranging error value.

[0051] In one possible implementation, the method further includes:

[0052] After receiving the information indicating a positioning anomaly, the interference monitoring information of the abnormal ground station is obtained, and the positioning anomaly is determined based on the interference monitoring information to determine whether the positioning anomaly is caused by the environment where the abnormal ground station is located.

[0053] If the location anomaly is not caused by the environment of the abnormal ground station, then obtain the location service information of ground stations within a preset distance of the abnormal ground station. If the location service information indicates that the location is normal, then determine that the abnormal ground station has an anomaly that has caused the location anomaly.

[0054] If the abnormality is not caused by the abnormal ground station, then the location abnormality is determined based on the sky weather parameters, ionospheric delay parameters, and tropospheric delay parameters to determine whether the location abnormality is caused by the space atmospheric environment.

[0055] If the positioning anomaly is not caused by the space atmospheric environment, then the equivalent ranging error and / or space signal ranging error of each satellite are obtained, and the target satellite causing the positioning anomaly is determined based on the equivalent ranging error and / or space signal ranging error of each satellite.

[0056] Secondly, this application provides an observation data processing apparatus, comprising:

[0057] The observation data acquisition module is used to acquire observation data from ground stations, low-orbit satellites, and the target platform.

[0058] The coordinate unification module is used to perform coordinate unification processing based on the observation data of the first coordinate system and the ground station to obtain the coordinates of the ground station after coordinate unification processing.

[0059] The data update module is used to update the observation data of the ground station based on the coordinates of the ground station after the coordinate unification process, so as to obtain the updated observation data.

[0060] The evaluation module is used to evaluate the observation data of the enhanced service based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0061] Thirdly, this application provides an electronic device, which includes: a processor and a memory communicatively connected to the processor;

[0062] The memory stores computer-executed instructions;

[0063] The processor executes computer execution instructions stored in the memory to implement the observation data processing method as described in the first aspect.

[0064] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the observation data processing method as described in the first aspect.

[0065] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the observation data processing method as described in the first aspect.

[0066] The observation data processing method, apparatus, electronic device, and storage medium provided in this application acquire observation data from ground stations, low-Earth orbit satellites, and observation data from a target platform. For observation data from ground stations of different dimensions, coordinate unification processing is first performed. Then, the observation data from ground stations is updated based on the coordinates after coordinate unification processing, thereby obtaining updated observation data, low-Earth orbit satellite observation data, and target platform observation data of the same dimension. Using the updated observation data of the same dimension, the low-Earth orbit satellite observation data, and the target platform observation data as a benchmark, the corresponding index data in the observation data of the enhanced service can be evaluated to assess the performance of the enhanced service. Attached Figure Description

[0067] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0068] Figure 1This is a schematic diagram illustrating an implementation scenario as shown in an exemplary embodiment;

[0069] Figure 2 This is a flowchart illustrating an exemplary embodiment of an observation data processing method;

[0070] Figure 3 This is a flowchart illustrating an observation data processing method in another exemplary embodiment;

[0071] Figure 4 This is a flowchart illustrating an observation data processing method in another exemplary embodiment;

[0072] Figure 5 This is a structural diagram of an observation data processing apparatus shown in an exemplary embodiment;

[0073] Figure 6 This is a schematic diagram of the structure of an electronic device shown in this application.

[0074] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0075] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0076] To facilitate understanding of the embodiments of this application, firstly, in conjunction with Figure 1 The detailed description applies to the implementation scenarios of the embodiments in this application. For example... Figure 1 As shown, the implementation scenarios include controllers, ground stations, and satellites.

[0077] In some embodiments, the controller is communicatively connected to both the ground station and the satellite. The ground station can send observation data to the controller, and the satellite is equipped with a satellite payload, which can send observation data from the low-orbit satellite to the ground station.

[0078] In some embodiments, the controller may receive observation data from ground stations and observation data from low-Earth orbit satellites.

[0079] In some embodiments, the controller may also access the target platform to obtain observation data of the target platform.

[0080] In some embodiments, the controller can be an edge environment or a cloud environment, such as a physical server, a server cluster, or a cloud server. The controller can also be an electronic device with data processing capabilities, thereby enabling the processing of observation data. No specific limitations are imposed on the controller here.

[0081] In some embodiments, the controller acquires observation data from ground stations, observation data from low-Earth orbit satellites, and observation data from a target platform; performs coordinate unification processing based on a first coordinate system and the observation data from ground stations to obtain coordinates of the ground stations after coordinate unification; updates the observation data of the ground stations based on the coordinates of the ground stations after coordinate unification to obtain updated observation data; and evaluates the observation data of the enhanced service based on the updated observation data, the observation data from low-Earth orbit satellites, and the observation data from the target platform.

[0082] In some embodiments, the controller also includes a visualization structure through which the evaluation results of the observation data of the enhanced service are displayed.

[0083] The observation data processing method in this application can be implemented in the controller, and the corresponding observation data processing device is set in the controller.

[0084] Figure 2 This is a flowchart illustrating an exemplary embodiment of an observation data processing method applied to a controller. The observation data processing method may include:

[0085] S201. Acquire observation data from ground stations, low-orbit satellites, and the target platform.

[0086] In some embodiments, the observation data includes GNSS-related data.

[0087] In some embodiments, the observation data includes one or more of the following: navigation messages and pseudorange, carrier phase, meteorological data, etc.

[0088] In some embodiments, ground stations include reference stations and observation stations.

[0089] In some embodiments, the observation data of the low-Earth orbit satellite is the observation data of the satellite payload of the low-Earth orbit satellite.

[0090] In some embodiments, the target platform includes one or more of the International GNSS Service (IGS), the International GNSS Monitoring and Assessment System (iGMAS), and the Multi-GNSS Experiment (MGEX).

[0091] In some embodiments, the observation data of the target platform may also include high-precision products.

[0092] In some embodiments, the observation data from ground stations and the observation data from low-orbit satellites may also be data obtained after preprocessing.

[0093] In some embodiments, low-Earth orbit (LEO) satellites acquire initial observation data, ground stations acquire initial observation data, and the controller receives the initial observation data from the ground stations and the LEO satellites. If the sampling interval of the initial observation data is determined to be a preset interval, a quality analysis is performed on the initial observation data. If the initial observation data meets the conditions of multipath influence ≤ 0.3 meters (elevation cutoff angle 10°), cycle slip ratio not less than 8000 (elevation cutoff angle 10°), and integrity rate not less than 98% (elevation cutoff angle 10°), then the quality analysis of the initial observation data is determined to be passed. The initial observation data can be used as the observation data of the corresponding ground stations and the LEO satellites for subsequent observation data processing steps.

[0094] If the initial observation data does not meet the conditions of multipath effect ≤ 0.3 meters (elevation cutoff angle 10°), cycle slip ratio not less than 8000 (elevation cutoff angle 10°), and integrity rate not less than 98% (elevation cutoff angle 10°), then the quality analysis of the initial observation data is determined to be unsuccessful. The initial observation data cannot be used as the observation data of the corresponding ground station or the low-Earth orbit satellite. The process then receives the initial observation data of the next ground station and the initial observation data of the low-Earth orbit satellite, and performs a quality analysis on the initial observation data of the next ground station and the initial observation data of the low-Earth orbit satellite.

[0095] S202. Based on the observation data of the first coordinate system and the ground station, perform coordinate unification processing to obtain the coordinates of the ground station after coordinate unification processing.

[0096] In some embodiments, since the observation data of the ground stations come from different devices, the coordinates of the ground stations are first unified, and the observation data of the ground stations with unified coordinates can be determined based on the ground stations with unified coordinates.

[0097] In some embodiments, the first coordinate system is the 2000 National Geodetic Coordinate System (CGCS2000).

[0098] In some embodiments, at least some frame stations of the first coordinate system are selected, and the positions of at least some frame stations of the first coordinate system and the positions of ground stations are combined to form a new reference network. The observation data of ground stations over a certain observation period are then subjected to joint adjustment processing. The results of the joint adjustment processing are uniformly reduced to the reference network, thereby achieving coordinate unification of ground stations, i.e., obtaining the coordinates of ground stations after coordinate unification processing.

[0099] S203. Based on the coordinates of the ground stations after coordinate unification processing, update the observation data of the ground stations to obtain the updated observation data.

[0100] In some embodiments, after determining the coordinates of the ground stations after coordinate unification processing, the observation data of the ground stations can be synchronized to the coordinates of the ground stations after coordinate unification processing, thereby realizing the update processing of the observation data of the ground stations and obtaining the updated observation data.

[0101] The updated observation data includes ground station observation data synchronized to the coordinates of ground stations after coordinate unification.

[0102] In some embodiments, by updating the processed observation data, the observation data of the low-orbit satellite, and the observation data of the target platform, one or more of the following data can be generated: coordinates of the reference station, orbital position of the high-precision GNSS, clock error, ionospheric delay, tropospheric delay, pseudorange, carrier phase, Doppler, etc.

[0103] S204. Evaluate the observation data for the enhanced service based on the updated observation data, the observation data from low-Earth orbit satellites, and the observation data from the target platform.

[0104] In some embodiments, the updated observation data can be used as a benchmark to evaluate the observation data for the enhanced service, along with observation data from low-Earth orbit satellites and the target platform.

[0105] In some embodiments, the enhancement services include ground-based enhancement services, satellite-based enhancement services, and low-Earth orbit navigation enhancement services.

[0106] The observation data for the augmentation service is the GNSS data obtained from the high-precision augmentation service.

[0107] In some embodiments, parameters corresponding to the indicators that need to be evaluated for the enhancement service are obtained based on the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform. Thus, the indicators of the enhancement service can be evaluated by the parameters generated from the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform, as well as the parameters of the corresponding indicators in the observation data of the enhancement service.

[0108] In some embodiments, the observation data of the target platform and the observation data of the low-orbit satellite are data that have undergone coordinate unification processing. Therefore, only the observation data of the ground station needs to be processed for coordinate unification to obtain updated observation data.

[0109] In this embodiment, observation data from ground stations, low-Earth orbit satellites, and target platforms are acquired. For the observation data from ground stations of different dimensions, coordinate unification processing is first performed. Then, the observation data from ground stations is updated based on the coordinates after coordinate unification processing, thereby obtaining the updated observation data, low-Earth orbit satellite observation data, and target platform observation data of the same dimension. Using the updated observation data, low-Earth orbit satellite observation data, and target platform observation data of the same dimension as a benchmark, the data of corresponding indicators in the observation data of the enhanced service can be evaluated to assess the performance of the enhanced service.

[0110] In some embodiments, a coordinate unification processing method is also proposed: at least some frame stations are obtained in a first coordinate system; the positions of at least some frame stations in the first coordinate system and the positions of ground stations are combined to form a reference network; the reference network, the observation data of ground stations, and the observation data of low-orbit satellites are jointly adjusted to obtain the coordinates of ground stations and the coordinates of satellite payloads after coordinate unification processing.

[0111] In this embodiment, joint adjustment processing of the observation data of the reference network and the ground station can be performed by performing joint adjustment processing of the observation data of the ground station and the reference network over a period of time. The result of the joint adjustment processing is uniformly reduced to the reference network to obtain the coordinates of the ground station after coordinate unification processing.

[0112] Figure 3 This is a flowchart illustrating an observation data processing method in another exemplary embodiment. Figure 3 As Figure 2 One possible implementation of step S204 is that... Figure 3 A method for evaluating the primary metric of service enhancement may be proposed, which may include:

[0113] S301. Determine the second parameter of the first indicator based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0114] In some embodiments, the observation data of the enhancement service is used to indicate a first parameter of a first indicator of the first enhancement service, the first enhancement service including at least one of ground-based enhancement service and low-Earth orbit navigation enhancement service, and the first indicator including at least one of orbital position and clock bias.

[0115] In some embodiments, observation data of the first enhancement service is received, and the first parameter of the first indicator of the first enhancement service can be generated by parsing the observation data of the first enhancement service.

[0116] The first parameter of the first indicator includes at least one of the following: the value of the orbital position provided by the ground-based augmentation service, the value of the clock error provided by the ground-based augmentation service, the value of the orbital position provided by the LEO navigation augmentation service, and the value of the clock error provided by the LEO navigation augmentation service.

[0117] The second parameter of the first indicator includes one of the following: the value of the orbital position determined based on the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform; and the value of the clock bias determined based on the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform.

[0118] S302. The difference between the first parameter and the second parameter of the first indicator is used to evaluate the accuracy of the first indicator of the first enhanced service.

[0119] In some embodiments, when the first indicator is orbital position, the difference between the orbital position value provided by the ground-based augmentation service and the orbital position value determined based on updated observation data, low-Earth orbit satellite observation data, and target platform observation data is used to evaluate the accuracy of the orbital position of the ground-based augmentation service; the difference between the orbital position value provided by the low-Earth orbit navigation augmentation service and the orbital position value determined based on updated observation data, low-Earth orbit satellite observation data, and target platform observation data is used to evaluate the accuracy of the orbital position of the low-Earth orbit navigation augmentation service.

[0120] In some embodiments, when the first metric is clock bias, the difference between the clock bias value provided by the ground-based augmentation service and the clock bias value determined based on the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform is used to evaluate the accuracy of the clock bias of the ground-based augmentation service; the difference between the clock bias value provided by the low-Earth orbit navigation augmentation service and the clock bias value determined based on the updated observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform is used to evaluate the accuracy of the clock bias of the low-Earth orbit navigation augmentation service.

[0121] In some embodiments, the ground-based augmentation service includes ground-based regional augmentation service (NRTK) and ground-based wide-area augmentation service (PPP / PPP-RTK), with the first metric being a parameter in the observation data of the ground-based wide-area augmentation service.

[0122] In some embodiments, the precision of the first indicator may be:

[0123]

[0124] in, The accuracy of the primary indicator for ground-based augmentation services / low-orbit navigation augmentation services; The first parameter of the first indicator for ground-based augmentation services / low-Earth orbit navigation augmentation services, if the first indicator is orbital position, then The unit is m (meter). If the first indicator is clock error, then... The unit is ns (nanosecond); This is the second parameter of the first indicator. If the first indicator is the orbital position, then... The unit is meters (m). If the first indicator is clock error, then... The unit is ns.

[0125] In some embodiments, the coordinate frame and time system corresponding to the first parameter of the first indicator and the second parameter of the second indicator may be different. Therefore, the first parameter of the first indicator and the second parameter of the second indicator can be converted to the same coordinate frame and the same time system first, and then the difference between the first parameter of the first indicator and the second parameter of the first indicator can be obtained.

[0126] In some embodiments, the larger the absolute value of the difference between the first parameter and the second parameter of the first indicator, the lower the accuracy of the first indicator of the first enhanced service; the smaller the absolute value of the difference between the first parameter and the second parameter of the first indicator, the higher the accuracy of the first indicator of the first enhanced service.

[0127] In some embodiments, a method for calculating the accuracy of a second indicator of a first enhancement service is also proposed: the observation data of the enhancement service is also used to indicate the first parameter of the second indicator of the first enhancement service, the first enhancement service includes at least one of ground-based enhancement service and low-orbit navigation enhancement service, the second indicator includes ionospheric delay, and the first parameter of the second indicator includes the first parameter value corresponding to each grid point in the ionospheric grid.

[0128] The second parameter of the second indicator is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The second parameter of the second indicator includes the second parameter value corresponding to each grid point in the ionospheric grid. The difference between the first parameter value and the second parameter value corresponding to each grid point in the ionospheric grid is determined as the difference between each grid point in the ionospheric grid. The accuracy of the second indicator of the first enhancement service is evaluated based on the standard deviation of the difference between each grid point in the ionospheric grid.

[0129] In some embodiments, the observation data of the first enhancement service is received, and the first parameter of the second indicator of the first enhancement service can be generated by parsing the observation data of the first enhancement service.

[0130] The first parameter of the second indicator includes at least one of the values ​​of ionospheric delay provided by the ground-based augmentation service and the values ​​of ionospheric delay provided by the low-orbit navigation augmentation service.

[0131] In some embodiments, the precision of the second metric of the first enhanced service can be:

[0132]

[0133] In the formula, Indicates the total number of grid points in the ionosphere; Indicates the grid number in the ionospheric grid. ; Indicates the first The first parameter of the second indicator of the first enhanced service at each grid point, in units of TECU (10 16 Electronics / m 2 ); Indicates the first The second parameter of the second indicator of the first enhanced service at each grid point is in TECU; This indicates the precision of the second metric for the first enhanced service, measured in TECUs. This represents the standard deviation of the differences between the points in the ionospheric grid.

[0134] In some embodiments, the first enhancement service is a ground-based wide-area enhancement service, and the accuracy of the second index of the ground-based wide-area enhancement service is calculated based on the first parameter and the second parameter of the second index of the ground-based wide-area enhancement service to evaluate the accuracy of the second index of the ground-based wide-area enhancement service; the first enhancement service is a low-Earth orbit (LEO) navigation enhancement service, and the accuracy of the second index of the LEO navigation enhancement service is calculated based on the first parameter and the second parameter of the second index of the LEO navigation enhancement service to evaluate the accuracy of the second index of the LEO navigation enhancement service.

[0135] Understandably, the smaller the value corresponding to the precision of the second indicator, the higher the precision of the second indicator; conversely, the larger the value corresponding to the precision of the second indicator, the lower the precision of the second indicator.

[0136] The first parameter of the second indicator can be calculated from the ionospheric model in the first enhancement service, specifically the zenith delay value of the first enhancement service.

[0137] The second parameter of this second indicator can also be calculated using updated observation data, low-orbit satellite observation data, target platform observation data, and ionospheric model data; specifically, it can be the zenith delay value.

[0138] In some embodiments, an evaluation method for a third metric of the first enhancement service is also proposed. Observational data of the enhancement service is also used to indicate a first parameter of the third metric of the first enhancement service, wherein the first enhancement service includes at least one of ground-based enhancement service and low-Earth orbit navigation enhancement service, and the third metric includes the duration of service interruption.

[0139] The availability of the first enhanced service is evaluated based on the ratio of the first parameter of the third indicator to the duration of the service interruption assessment period of the first enhanced service; the duration of the interruption plan of the first enhanced service within a unit time is subtracted from the first parameter of the third indicator within a unit time to obtain the third parameter of the third indicator within a unit time; the continuity of the first enhanced service is evaluated based on the third parameter of the third indicator.

[0140] In some embodiments, the first parameter of the third indicator can be obtained from the interruption start time and interruption stop time of the first enhancement service in the observation data of the first enhancement service.

[0141] In some embodiments, when assessing the availability of the first enhanced service, a service interruption assessment period for the first enhanced service can be determined, and a first parameter of a first indicator within the service interruption assessment period of the first enhanced service can be statistically analyzed. The availability of the first enhanced service can then be assessed by the ratio of the first parameter of the first indicator within the service interruption assessment period of the first enhanced service to the corresponding duration of the service interruption assessment period of the first enhanced service.

[0142] In some embodiments, the availability of the first enhanced service can be:

[0143]

[0144] in, To enhance service availability, The first parameter of the third indicator, in seconds. The duration of the service interruption assessment period for the first enhanced service, in seconds.

[0145] The first enhancement service includes ground-based enhancement services, which in turn include ground-based regional enhancement services and ground-based wide-area enhancement services.

[0146] In some embodiments, the first enhancement service is a ground-based regional enhancement service, and the availability of the ground-based regional enhancement service is evaluated based on the ratio of the first parameter of the third indicator of the ground-based regional enhancement service to the duration corresponding to the service interruption assessment period of the first enhancement service; the first enhancement service is a ground-based wide-area enhancement service, and the availability of the ground-based wide-area enhancement service is evaluated based on the ratio of the first parameter of the third indicator of the ground-based wide-area enhancement service to the duration corresponding to the service interruption assessment period of the first enhancement service; the first enhancement service is a low-Earth orbit (LEO) navigation enhancement service, and the availability of the LEO navigation enhancement service is evaluated based on the ratio of the first parameter of the third indicator of the LEO navigation enhancement service to the duration corresponding to the service interruption assessment period of the first enhancement service.

[0147] In some embodiments, a higher availability value for the first enhanced service indicates a higher availability of the first enhanced service; a lower availability value indicates a lower availability of the first enhanced service.

[0148] In some embodiments, the interruption plan of the first enhanced service is a manually set method to control the interruption of the first enhanced service. In this way, when evaluating the continuity of the first enhanced service, the first parameter of the third indicator is statistically analyzed within a unit time. The duration of the interruption plan of the first enhanced service within a unit time is reduced by the first parameter of the third indicator within a unit time to obtain the duration of the unplanned service interruption of the first enhanced service within a unit time, which is the third parameter of the third indicator. Thus, the continuity of the first enhanced service can be evaluated through the third parameter of the third indicator.

[0149] In some embodiments, the continuity of the first enhanced service is as follows:

[0150]

[0151] in, To enhance service continuity, The third parameter of the third indicator (in hours). Take the unit time corresponding to the duration, i.e., 1 hour.

[0152] In some embodiments, the first enhancement service is a ground-based regional enhancement service, and the continuity of the ground-based regional enhancement service is evaluated based on the third parameter of the third index of the ground-based regional enhancement service; the first enhancement service is a ground-based wide-area enhancement service, and the continuity of the ground-based wide-area enhancement service is evaluated based on the third parameter of the third index of the ground-based wide-area enhancement service; the first enhancement service is a low-Earth orbit (LEO) navigation enhancement service, and the continuity of the LEO navigation enhancement service is evaluated based on the third parameter of the third index of the LEO navigation enhancement service.

[0153] In some embodiments, a larger value corresponding to the continuity of the first enhanced service indicates a shorter service interruption duration per unit time, which means better continuity of the first enhanced service; a smaller value corresponding to the continuity of the first enhanced service indicates a longer service interruption duration per unit time, which means worse continuity of the first enhanced service.

[0154] In some embodiments, a method for evaluating the accuracy of a fourth indicator of a first enhancement service is also proposed, wherein the observation data of the enhancement service is used to indicate a first parameter of the fourth indicator of the first enhancement service, the first enhancement service includes at least one of ground-based enhancement service and low-orbit navigation enhancement service, and the fourth indicator includes positioning results.

[0155] The second parameter of the fourth indicator is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform; the first parameter and the second parameter of the fourth indicator are subjected to coordinate unification processing to obtain the processed first parameter and the processed second parameter of the fourth indicator; the accuracy of the fourth indicator of the first enhancement service is evaluated based on the first difference between the processed first parameter and the processed second parameter of the fourth indicator.

[0156] In some embodiments, a second parameter of the fourth index is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The second parameter of the fourth index is the value of the positioning result.

[0157] The value of this positioning result can be the location of the ground station.

[0158] In some embodiments, the positioning result provided by the first enhancement service can be determined by the observation data of the first enhancement service, and the first parameter of the fourth indicator can be obtained, that is, the location of the ground station provided by the first enhancement service can be obtained.

[0159] Unifying the coordinates of the first and second parameters of the fourth indicator can be achieved by converting them into a Cartesian coordinate system or a station-centered coordinate system, thus obtaining the processed first and second parameters of the fourth indicator.

[0160] In some embodiments, the first difference between the Cartesian coordinate systems is:

[0161]

[0162] in, This is the first difference in the Cartesian coordinate system, in meters (m). is the first parameter of the fourth index after processing in the Cartesian rectangular coordinate system, with the unit being m. is the second parameter of the fourth index after processing in the Cartesian rectangular coordinate system, with the unit being m.

[0163] In some embodiments, the first difference in the Cartesian coordinate system can also be converted to the first difference in the station-centered coordinate system:

[0164]

[0165] in, This is the first difference in the station-centered coordinate system, in meters. This is the transformation matrix from the Cartesian coordinate system to the stationary coordinate system, and it has no unit.

[0166] In some embodiments, the fourth indicator includes horizontal positioning results and vertical positioning results, and the first difference includes the first difference of the horizontal positioning results and the first difference of the vertical positioning results.

[0167] In some embodiments, the larger the first difference, the lower the accuracy of the fourth indicator of the first enhanced service; the smaller the first difference, the higher the accuracy of the fourth indicator of the first enhanced service.

[0168] In some embodiments, the first enhancement service is a ground-based regional enhancement service, wherein a first difference in the ground-based regional enhancement service is determined based on a first parameter and a second parameter of a fourth indicator of the ground-based regional enhancement service, and the first difference in the ground-based regional enhancement service is used to evaluate the accuracy of the fourth indicator of the ground-based regional enhancement service; the first enhancement service is a ground-based wide-area enhancement service, wherein a first difference in the ground-based wide-area enhancement service is determined based on a first parameter and a second parameter of a fourth indicator of the ground-based wide-area enhancement service, and the first difference in the ground-based wide-area enhancement service is used to evaluate the accuracy of the fourth indicator of the ground-based wide-area enhancement service; the first enhancement service is a low-Earth orbit (LEO) navigation enhancement service, wherein a first difference in the LEO navigation enhancement service is determined based on a first parameter and a second parameter of a fourth indicator of the LEO navigation enhancement service, and the first difference in the ground-based regional enhancement service is used to evaluate the accuracy of the fourth indicator of the LEO navigation enhancement service.

[0169] In some embodiments, the availability of the fourth indicator is further evaluated by sampling at a first time interval within a preset positioning time period to obtain multiple first differences; obtaining a second difference between each first difference and a preset positioning threshold, and obtaining a Boolean function value for each second difference; obtaining a first ratio between the duration corresponding to the preset positioning time period and the duration corresponding to the first time interval, and obtaining a first sum between the first ratio and a preset parameter value; and evaluating the availability of the fourth indicator of the first enhanced service based on the ratio between the sum of the Boolean function values ​​corresponding to each second difference and the first sum.

[0170] The availability of the fourth metric for the first enhanced service for:

[0171]

[0172] in, These are the M first differences sampled within a preset positioning time period. For the first indivual, For the first The first difference, in meters. The preset positioning time period is in seconds; the first time interval is in seconds. The preset positioning threshold is in meters (m). It is a Boolean function that evaluates when the condition is met. When the condition is met, the value is 1; otherwise, the value is 0. The second difference, The Boolean function value of the second difference. This is the sum of the Boolean function values ​​corresponding to each of the second differences. For preset parameter values, It can be 1. This is the first ratio.

[0173] In some embodiments, the first difference includes the first difference of the horizontal positioning result and the first difference of the vertical positioning result, and the preset positioning threshold also includes the preset positioning threshold of the horizontal positioning result and the preset positioning threshold of the vertical positioning result.

[0174] In some embodiments, the first enhancement service is a ground-based area enhancement service, and the availability of a fourth indicator of the ground-based area enhancement service is evaluated based on multiple first differences of the ground-based area enhancement service within a preset positioning time period; the first enhancement service is a low-Earth orbit navigation enhancement service, and the availability of a fourth indicator of the low-Earth orbit navigation enhancement service is evaluated based on multiple first differences of the low-Earth orbit navigation enhancement service within a preset positioning time period.

[0175] In some embodiments, corresponding thresholds can be set for the accuracy of the first indicator, the accuracy of the second indicator, the continuity of the first enhanced service, the accuracy of the fourth indicator, and the availability of the fourth indicator. When the accuracy falls below the corresponding threshold, an alarm can be triggered.

[0176] In some embodiments, an alarm is triggered when the continuity of the first enhanced service is lower than a continuity threshold of the first enhanced service, which can be 99.9%.

[0177] For example, if the availability of the fourth indicator of the first enhanced service is lower than the availability threshold of the fourth indicator of the first enhanced service, an alarm will be issued. The availability threshold of the fourth indicator of the first enhanced service can be 99.9%.

[0178] Figure 4 This is a flowchart illustrating an observation data processing method in another exemplary embodiment. Figure 4 As Figure 2 One possible implementation of step S204 is that... Figure 4 A method for evaluating the positioning accuracy of satellite-based augmentation services is proposed, which may include:

[0179] S401. Determine the second coordinate parameters of the monitoring station based on the updated observation data, the low-orbit satellite observation data, and the target platform observation data.

[0180] In some embodiments, the observation data of the augmentation service is used to instruct the satellite-based augmentation service on multiple first coordinate parameters of the monitoring site over multiple time periods.

[0181] In some embodiments, the observation data of the augmentation service includes the observation data of the satellite-based augmentation service. After receiving the observation data of the satellite-based augmentation service, the first coordinate parameters of the monitoring station in multiple time periods can be determined based on the observation data of the satellite-based augmentation service.

[0182] This monitoring station is a ground-based station.

[0183] In some embodiments, a precise single-point positioning method is used to process the updated observation data, the low-orbit satellite observation data, and the target platform observation data to obtain a second coordinate parameter of the monitoring station. The coordinate accuracy of this second coordinate parameter is typically at the millimeter level, which can be regarded as the accurate location of the monitoring station. Thus, the positioning accuracy of the satellite-based augmentation service can be evaluated through this second coordinate parameter and multiple first coordinate parameters.

[0184] S402. Obtain the coordinate difference between each first coordinate parameter and the second coordinate parameter, and evaluate the positioning accuracy of the satellite-based augmentation service based on the deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter and the second coordinate parameter.

[0185] In some embodiments, the root mean square (RMS) method is used to determine the positioning accuracy of satellite-based augmentation services.

[0186] In some embodiments, the coordinate difference between each first coordinate parameter and the second coordinate parameter is obtained, and the positioning accuracy of the satellite-based augmentation service is evaluated based on the deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter and the second coordinate parameter.

[0187] The deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter is the square root of the ratio between the second sum of the coordinate differences between the first coordinate parameters and the individual values ​​of the first coordinate parameters.

[0188] In some embodiments, the second coordinate parameters include parameters of the X, Y, and Z axes, or the parameters of the X, Y, and Z axes in the second coordinate parameters can be converted into parameters of the North (N), East (E), and Sky (U) directions.

[0189] In some embodiments, the first coordinate parameters include parameters of the X, Y, and Z axes, or the parameters of the X, Y, and Z axes in the first coordinate parameters can be converted into parameters of the north, east, and sky directions.

[0190] If the second coordinate parameter includes parameters for the X, Y, and Z axes and the first coordinate parameter includes parameters for the X, Y, and Z axes, then the deviation metric for the X axis can be calculated, the deviation metric for the Y axis can be calculated, and the deviation metric for the Z axis can be calculated.

[0191] If the second coordinate parameter includes parameters for the north, east, and sky directions, and the first coordinate parameter includes parameters for the north, east, and sky directions, then the deviation metric for the north direction can be calculated, the deviation metric for the east direction can be calculated, and the deviation metric for the sky direction can be calculated.

[0192] For example, consider the deviation measurement value on the X-axis:

[0193]

[0194] in, This is a measure of the deviation along the X-axis. It is the first The parameter of the X-axis of the first coordinate parameter, It is the parameter of the X-axis of the second coordinate system. It is the numerical value of the first coordinate parameter.

[0195] The deviation measurements of the Y-axis and Z-axis can be calculated in the same way as the deviation measurements of the X-axis. By using a rotation matrix, the deviation measurements of the X, Y, and Z axes can be converted into deviation measurements in the North, East, and Sky directions.

[0196] In some embodiments, a Hazardously Misleading Information (HMI) event is considered to have occurred when the deviation metric is greater than the protection level and the pilot is not notified within the alarm time.

[0197] The safety index is the ratio of the protection level to the observed maximum error when the Localizer Performance with Vertical Guidance (LPV) service of the satellite augmentation system is available. The horizontal safety margin index and the vertical safety margin index are the ratios of the horizontal protection level (HPL) to the observed horizontal position error (HPE) and the vertical protection level (VPL) to the observed vertical position error (VPE), respectively, when the maximum error occurs.

[0198] A safety margin index greater than 1 indicates that the maximum observation error is within the safety limits, less than 1 indicates that the maximum error exceeds the limits, and equal to 1 indicates that the maximum positioning error is equal to the protection level. If the positioning error exceeds the horizontal or vertical protection level at any time, and this event is corrected by the enhancement system within 6.2 seconds of the information prior to the event, an HMI event is considered to have occurred.

[0199] In some embodiments, the integrity of message broadcasting for satellite-based single-frequency and dual-frequency augmentation services can be assessed using observational data from satellite-based augmentation services, including monitoring and evaluating the correctness of message synchronization headers, the continuity of message broadcasting, and message timeouts.

[0200] In some embodiments, enhanced messages from the satellite-based augmentation system are received, the message observation time t1 (seconds within a week) of each message is recorded, the message observation time t2 (seconds within a week) of the next message is recorded, t2-t1 is calculated, and if t2-t1 is greater than 1, a message interruption occurs; the interruption time (t1+1)s and the interruption duration (t2-t1-1)s are recorded; the continuity of satellite-based single-frequency augmentation and dual-frequency augmentation service message broadcasting is statistically analyzed across all satellites.

[0201] In some embodiments, the accuracy and integrity of satellite-based single-frequency augmentation and dual-frequency augmentation services can be evaluated using observation data from satellite-based augmentation services. This mainly includes differential spatial signal accuracy evaluation, user differential range error (UDRE) envelope performance evaluation for single-frequency positioning users / dual-frequency correction signal error index (DFRE) envelope performance evaluation for dual-frequency positioning, grid ionospheric correction accuracy evaluation, and grid ionospheric vertical error (GIVE) envelope performance evaluation.

[0202] In some embodiments, the performance of satellite-based single-frequency augmentation and dual-frequency augmentation services can be evaluated using observation data from satellite-based augmentation services, including but not limited to: positioning accuracy, protection level, availability, continuity, integrity, and coverage.

[0203] In some embodiments, a method for evaluating the availability of satellite-based augmentation services is also proposed, wherein the observational data of the augmentation services include the availability time of slowly varying information, the availability time of rapidly varying information, and the availability time of ionospheric information.

[0204] The intersection of the available time for slow-changing information, fast-changing information, and ionospheric information is obtained to obtain the intersection time; the availability of the satellite-based augmentation service is evaluated based on the ratio between the duration of the intersection time and the runtime of the satellite-based augmentation service.

[0205] In some embodiments, the availability of satellite-based augmentation services is as follows:

[0206]

[0207] In the formula, To enhance the availability of satellite-based services, For the available time of slowly changing information, To quickly change the available time of information, For the available time of ionospheric information, It is about finding the intersection. Runtime for satellite-based augmentation services.

[0208] In some embodiments, the validity of slow-varying corrections and fast-varying corrections is checked. If valid, the validity of UDRE is then checked. Next, the validity of ionospheric corrections is checked. If valid, GIVE is checked. If both UDRE and GIVE are valid, the availability of augmentation information is statistically analyzed to finally obtain the availability of satellite-based augmentation services.

[0209] In the game implementation example, the number of times an airport meets the service specification requirements and can provide service within the evaluation period is calculated based on the observation data of the satellite-based augmentation service. Let the vertical alarm threshold be VAL and the horizontal alarm threshold be HAL. If the vertical protection level VPL is less than or equal to the vertical alarm threshold VAL, and the horizontal protection level HPL is less than or equal to the horizontal alarm threshold HAL, then the satellite-based augmentation service is available to the user. If the service conditions are not met, the airport's service is interrupted.

[0210] In some embodiments, a method for evaluating satellite ranging errors of a satellite-based augmentation service is also proposed, wherein the observation data of the augmentation service includes the third coordinate parameters of the satellite for which the satellite-based augmentation service is located.

[0211] Based on the updated observation data, low-Earth orbit satellite observation data, and target platform observation data, the fourth coordinate parameter of the ground station is determined; the distance between the third and fourth coordinate parameters is determined, and the first duration between the signal transmitted by the satellite providing the satellite-based augmentation service and the ground station is obtained; the first clock difference of the signal transmitted by the satellite providing the satellite-based augmentation service and the second clock difference of the signal received by the ground station are obtained, and the third difference between the first and second clock differences is obtained; the first product between the speed of light and the first duration is obtained, and the second product between the speed of light and the third difference is obtained; the distance between the third and fourth coordinate parameters is subtracted from the product, the second product, the ionospheric delay correction parameter, and the tropospheric delay correction parameter to obtain the satellite ranging error value, and the satellite ranging error of the satellite-based augmentation service is evaluated based on the satellite ranging error value.

[0212] In some embodiments, the third coordinate parameters of the satellite providing the satellite augmentation service can be determined based on observation data from the satellite-based augmentation service.

[0213] In some embodiments, the fourth coordinate parameters of the ground station are determined based on the updated observation data, the observation data from the low-orbit satellite, and the observation data from the target platform.

[0214] The third coordinate parameter includes parameters for the X, Y, and Z axes, and the fourth coordinate parameter includes parameters for the X, Y, and Z axes.

[0215] Determine the distance between the third coordinate parameter and the fourth coordinate parameter. This distance can be calculated using the parameters of the X, Y, and Z axes included in the third coordinate parameter and the parameters of the X, Y, and Z axes included in the fourth coordinate parameter.

[0216] The duration can be obtained from the signal transmission time of the satellite providing the satellite-based augmentation service and the signal reception time of the ground station.

[0217] In some embodiments, satellite ranging error value for:

[0218]

[0219] in, These represent the parameters of the fourth coordinate axis, namely the X, Y, and Z axes. These represent the parameters of the third coordinate axis, namely the X, Y, and Z axes. Represents the speed of light; Indicates the signal transmission time of the satellite providing the satellite-based augmentation service; Indicates the signal reception time at the ground station; The first duration; The first product; Indicates the first clock difference; Indicates the second clock difference; This is the third difference; The second product; Indicates the ionospheric delay correction parameter; This represents the tropospheric delay correction parameter.

[0220] Satellite ranging error values ​​provide a direct and objective evaluation of the quality of pseudorange observations. When observation quality is good, the satellite ranging error value will be near zero with minimal jitter; conversely, poor observation quality may result in incomplete correction of biases or error terms, leading to greater jitter. By considering various error corrections and subtracting both sides of the pseudorange equation, the satellite ranging error value can be obtained. Therefore, it can be displayed in real-time mode or as a cumulative linear time series.

[0221] In some embodiments, corresponding thresholds can be set for the satellite ranging error value, the availability of satellite-based augmentation services, and the positioning accuracy of satellite-based augmentation services. An alarm can be issued when at least one of the satellite ranging error value, the availability of satellite-based augmentation services, and the positioning accuracy of satellite-based augmentation services exceeds the threshold.

[0222] If the threshold for satellite ranging error is 5cm, an alarm will be triggered when the satellite ranging error exceeds 5cm.

[0223] In this embodiment of the application, the updated observation data of the ground station can be obtained based on the updated observation data, the observation data of the low-orbit satellite and the observation data of the target platform, such as the second parameter of the first index, the second parameter of the second index, the second parameter of the fourth index, etc. In this way, the observation data of the enhanced service can be evaluated through the updated observation data of the ground station.

[0224] In some embodiments, a method is also proposed for determining the cause of a location anomaly after receiving information indicating a location anomaly.

[0225] Upon receiving a message indicating a positioning anomaly, the system acquires interference monitoring information from the abnormal ground station. Based on this information, it determines whether the positioning anomaly is caused by the environment of the abnormal ground station. If the anomaly is not caused by the environment of the abnormal ground station, it acquires positioning service information from ground stations within a preset distance of the abnormal ground station. If the positioning service information indicates normal positioning, it determines that the abnormal ground station is causing the positioning anomaly. If the anomaly is not caused by the abnormal ground station, it determines whether the positioning anomaly is caused by the space atmospheric environment based on sky weather parameters, ionospheric delay parameters, and tropospheric delay parameters. If the positioning anomaly is not caused by the space atmospheric environment, it acquires the equivalent ranging error and / or space signal ranging error of each satellite. Based on this error, it determines the target satellite causing the positioning anomaly.

[0226] In some embodiments, when the positioning accuracy of the satellite-based augmentation service exceeds a corresponding threshold, or the accuracy of the fourth indicator of the first augmentation service exceeds a corresponding threshold, or the availability of the fourth indicator exceeds a corresponding threshold, information indicating a positioning anomaly may be sent.

[0227] When the controller receives information about a positioning anomaly, it identifies the abnormal ground station and acquires the interference monitoring information of the abnormal ground station. This interference monitoring information may include abnormal spectrum data, ionospheric scintillation data, etc.

[0228] By using interference monitoring information, it is determined whether the positioning anomaly is caused by the environment of the abnormal ground station. If the positioning anomaly is caused by the environment of the abnormal ground station, it is determined that the information indicating the positioning anomaly was generated because of the positioning anomaly caused by the environment of the abnormal ground station.

[0229] If the location anomaly is not caused by the environment of the abnormal ground station, then obtain the location service information of ground stations within a preset distance of the abnormal ground station. If the location service information indicates that the location is normal, then it is determined that the abnormal ground station is causing the location anomaly.

[0230] The preset length can be determined based on empirical parameters. The location service information of ground stations near abnormal ground stations can be determined by the preset length.

[0231] If the positioning anomaly is not caused by an abnormal ground station, then the location anomaly is determined based on sky weather parameters, ionospheric delay parameters, and tropospheric delay parameters to determine whether the positioning anomaly is caused by the space atmospheric environment.

[0232] Sky weather parameters include solar radiation, geomagnetic index K (dimensionless value of 3-hour global geomagnetic activity), P, Ap (linear global geomagnetic activity index), and the intensity of geomagnetic storms (Disturbance Storm Time, DST).

[0233] If the positioning anomaly is caused by the space atmospheric environment, then the information indicating the positioning anomaly is generated because of the positioning anomaly caused by the space atmospheric environment.

[0234] If the positioning anomaly is not caused by the space atmospheric environment, then the equivalent ranging error and / or space signal ranging error of each satellite are obtained, and the target satellite causing the positioning anomaly is determined based on the equivalent ranging error and / or space signal ranging error of each satellite.

[0235] In some embodiments, the evaluation results obtained from evaluating the observation data of the enhanced service can be visualized in the form of charts and reports. The alarm information generated from evaluating the observation data of the enhanced service can also be displayed through the visualization structure of the controller, and the alarm information can be sent to the terminal device of the operation and maintenance personnel.

[0236] The embodiments of this application can realize the evaluation of ground-based augmentation services, satellite-based augmentation services, and low-Earth orbit navigation augmentation services. It comprehensively monitors and evaluates the capabilities of augmentation services from different dimensions based on observation data from ground stations, low-Earth orbit satellites, and target platforms, and provides real-time alarms for service anomalies, providing support for system operation and maintenance and fault handling, and ensuring the reliability of the system's service provision.

[0237] Meanwhile, this application embodiment also provides a precise method for locating anomalies based on the information indicating abnormal location, helping operation and maintenance and R&D personnel to quickly locate problems and continuously iterate and upgrade services; and helping users to quickly select and use more suitable high-precision enhancement services.

[0238] Figure 5 An exemplary embodiment of an observation data processing apparatus is shown, the observation data processing apparatus comprising:

[0239] The observation data acquisition module 510 is used to acquire observation data from ground stations, low-orbit satellites, and target platforms.

[0240] The coordinate unification module 530 is used to perform coordinate unification processing based on the observation data of the first coordinate system and the ground station to obtain the coordinates of the ground station after coordinate unification processing.

[0241] The data update module 550 is used to update the observation data of the ground stations based on the coordinates of the ground stations after the coordinate unification process, so as to obtain the updated observation data.

[0242] Evaluation module 570 is used to evaluate the observation data of the enhanced service based on the updated and processed observation data, the observation data of the low-Earth orbit satellite, and the observation data of the target platform.

[0243] In one possible implementation, the coordinate unification module includes:

[0244] A frame site determination unit is used to obtain at least a portion of the frame sites in a first coordinate system;

[0245] A reference construction unit is used to form a reference network by combining the positions of at least some of the frame stations in the first coordinate system with the positions of the ground stations.

[0246] The coordinate unification unit is used to perform joint adjustment processing on the observation data of the baseline network and ground stations to obtain the coordinates of the ground stations after coordinate unification processing.

[0247] In one possible implementation, observation data from the augmentation service is used to indicate a first parameter of a first indicator of the first augmentation service, the first augmentation service including at least one of ground-based augmentation service and low-Earth orbit navigation augmentation service, and the first indicator including at least one of orbital position and clock bias; the evaluation module includes:

[0248] The first indicator parameter determination unit is used to determine the second parameter of the first indicator based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0249] The first indicator evaluation unit is used to evaluate the accuracy of the first indicator of the first enhanced service by the difference between the first parameter and the second parameter of the first indicator.

[0250] In one possible implementation, the observation data of the augmentation service is further used to indicate a first parameter of a second indicator of the first augmentation service, wherein the first augmentation service includes at least one of ground-based augmentation service and low-Earth orbit navigation augmentation service, the second indicator includes ionospheric delay, and the first parameter of the second indicator includes the first parameter value corresponding to each grid point in the ionospheric grid; the evaluation module includes:

[0251] The second index parameter determination unit is used to determine the second parameter of the second index based on the updated observation data, the observation data of the low-orbit satellite and the observation data of the target platform. The second parameter of the second index includes the second parameter value corresponding to each grid point in the ionospheric grid.

[0252] The second index parameter processing unit is used to determine the difference between the first parameter value and the second parameter value corresponding to each grid point in the ionospheric grid as the difference between each grid point in the ionospheric grid.

[0253] The second indicator evaluation unit is used to evaluate the accuracy of the second indicator of the first enhancement service based on the standard deviation of the difference between the grid points in the ionospheric grid.

[0254] In one possible implementation, the observation data of the enhanced service is further used to indicate a first parameter of a third indicator of the first enhanced service, wherein the first enhanced service includes at least one of ground-based enhanced service and low-Earth orbit navigation enhanced service, and the third indicator includes the duration of service interruption; the observation data processing apparatus further includes:

[0255] The availability assessment module is used to assess the availability of the first enhanced service based on the ratio of the first parameter of the third indicator to the duration of the service interruption assessment period of the first enhanced service.

[0256] The third parameter acquisition module is used to subtract the duration of the interruption plan of the first enhanced service within a unit time from the first parameter of the corresponding third indicator within a unit time to obtain the third parameter of the third indicator within a unit time.

[0257] The continuity assessment evaluates the continuity of the first enhanced service based on the third parameter of the third indicator.

[0258] In one implementation, observation data from the augmentation service is used to indicate a first parameter of a fourth indicator of the first augmentation service, the first augmentation service including at least one of ground-based augmentation service and low-Earth orbit navigation augmentation service, and the fourth indicator including positioning results; the evaluation module includes:

[0259] The fourth indicator parameter determination unit is used to determine the second parameter of the fourth indicator based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0260] The fourth indicator parameter processing unit is used to perform coordinate unification processing on the first parameter and the second parameter of the fourth indicator to obtain the processed first parameter and the processed second parameter of the fourth indicator.

[0261] The fourth indicator evaluation unit is used to evaluate the accuracy of the fourth indicator of the first enhanced service based on the first difference between the first parameter of the processed fourth indicator and the second parameter of the processed fourth indicator.

[0262] In one possible implementation, the evaluation module further includes:

[0263] The first sampling unit is used to sample according to a first time interval within a preset positioning time period to obtain multiple first differences;

[0264] The first difference processing unit is used to obtain the second difference between each first difference and a preset positioning threshold, and to obtain a Boolean function value for each second difference;

[0265] The first numerical determination unit is used to obtain a first ratio between the duration corresponding to the preset positioning time period and the duration corresponding to the first time interval, and to obtain a first sum between the first ratio and the preset parameter value.

[0266] The availability assessment unit for the fourth indicator is used to assess the availability of the fourth indicator of the first enhanced service based on the ratio between the sum of the Boolean function values ​​corresponding to each second difference and the first sum.

[0267] In one implementation, the observation data of the augmentation service is used to instruct the satellite-based augmentation service for multiple first coordinate parameters of the monitoring station over multiple time periods; the evaluation module includes:

[0268] The coordinate acquisition unit is used to determine the second coordinate parameters of the monitoring station based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0269] The positioning accuracy evaluation unit is used to obtain the coordinate difference between each first coordinate parameter and the second coordinate parameter, and to evaluate the positioning accuracy of the satellite-based augmentation service based on the deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter and the second coordinate parameter.

[0270] In one possible implementation, the observation data for the augmentation service includes the availability time of slowly varying information, the availability time of rapidly varying information, and the availability time of ionospheric information from the satellite-based augmentation service; the observation data processing apparatus further includes:

[0271] The intersection processing module is used to obtain the intersection between the available time of slowly changing information, the available time of rapidly changing information, and the available time of ionospheric information, and to obtain the intersection time.

[0272] The satellite-based availability module is used to evaluate the availability of satellite-based augmentation services based on the ratio between the duration of the intersection time and the runtime of the satellite-based augmentation service.

[0273] In one possible implementation, the observation data of the augmentation service is used to indicate the third coordinate parameters of the satellite-based augmentation service relative to the satellite where the satellite-based augmentation service is located; the evaluation module includes:

[0274] The coordinate acquisition unit is used to determine the fourth coordinate parameters of the ground station based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

[0275] The duration acquisition unit is used to determine the distance between the third coordinate parameter and the fourth coordinate parameter, and to acquire the first duration between the signal sent by the satellite providing the satellite-based augmentation service and the ground station.

[0276] The difference acquisition unit is used to acquire the first clock difference of the signal transmitted by the satellite where the satellite-based augmentation service is located and the second clock difference of the signal received by the ground station, and to acquire the third difference between the first clock difference and the second clock difference;

[0277] The product determination unit is used to obtain the first product between the speed of light and the first duration, and to obtain the second product between the speed of light and the third difference.

[0278] The satellite ranging error assessment unit is used to subtract the product, the second product, the ionospheric delay correction parameter, and the tropospheric delay correction parameter from the distance value between the third coordinate parameter and the fourth coordinate parameter to obtain the satellite ranging error value, and to assess the satellite ranging error of the satellite-based augmentation service based on the satellite ranging error value.

[0279] In one possible implementation, the observation data processing apparatus further includes:

[0280] The first judgment module is used to obtain the interference monitoring information of the abnormal ground station after receiving the information indicating an abnormal positioning, and determine whether the positioning abnormality is caused by the environment where the abnormal ground station is located based on the interference monitoring information.

[0281] The second judgment module is used to obtain the positioning service information of ground stations within a preset length from the abnormal ground station if the positioning abnormality is not caused by the environment where the abnormal ground station is located. If the positioning service information indicates that the positioning is normal, it is determined that the abnormal ground station has caused the positioning abnormality.

[0282] The third judgment module is used to determine whether the positioning anomaly is caused by the space atmospheric environment based on the sky weather parameters, ionospheric delay parameters, and tropospheric delay parameters if the anomaly is not caused by an abnormal ground station.

[0283] The fourth judgment module is used to obtain the equivalent ranging error and / or space signal ranging error of each satellite if the positioning anomaly is not caused by the space atmospheric environment, and to determine the target satellite causing the positioning anomaly based on the equivalent ranging error and / or space signal ranging error of each satellite.

[0284] The observation data processing device provided in this embodiment can be used to execute the above-described observation data processing method. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0285] Figure 6 This is a structural diagram of an electronic device illustrated in an exemplary embodiment. Please refer to [link / reference]. Figure 6The electronic device 600 may include a processor 601 and a memory 602 communicatively connected to the processor 601, wherein the processor 601 and the memory 602 can communicate; for example, the processor 601 and the memory 602 communicate via a communication bus 603, the memory 602 is used to store computer execution instructions, and the processor 601 is used to call the computer execution instructions in the memory to execute the observation data processing method shown in any of the above method embodiments.

[0286] The aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0287] This application provides a computer-readable storage medium storing computer-executable instructions; when executed by a processor, the computer-executable instructions are used to implement the observation data processing method as described in any of the above embodiments.

[0288] This application provides a computer program product, which includes a computer program. When the computer program is executed, it causes the computer to perform the above-described cross-regional message forwarding and transmission method.

[0289] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0290] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for processing observation data, characterized in that, include: Acquire observation data from ground stations, low-orbit satellites, and the target platform; Based on the observation data of the first coordinate system and the ground station, coordinate unification processing is performed to obtain the coordinates of the ground station after coordinate unification processing; The observation data of the ground stations are updated based on the coordinates of the ground stations after the coordinate unification process, to obtain the updated observation data. The observation data for the enhanced service is evaluated based on the updated observation data, the observation data from the low-Earth orbit satellite, and the observation data from the target platform.

2. The method according to claim 1, characterized in that, The process of unifying the coordinates of the ground stations based on the observation data of the first coordinate system and the ground stations to obtain the coordinates of the ground stations after coordinate unification includes: Obtain at least a portion of the frame sites in the first coordinate system; The positions of at least some of the frame stations in the first coordinate system are combined with the positions of the ground stations to form a reference network; The reference network and the observation data of the ground stations are jointly adjusted to obtain the coordinates of the ground stations after the coordinate unification process.

3. The method according to claim 1, characterized in that, The observation data of the enhancement service is used to indicate the first parameter of the first indicator of the first enhancement service, the first enhancement service including at least one of ground-based enhancement service and low-orbit navigation enhancement service, and the first indicator including at least one of orbital position and clock error; The evaluation of the enhanced service observation data based on the updated observation data, the low-Earth orbit satellite observation data, and the target platform observation data includes: The second parameter of the first indicator is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The accuracy of the first indicator of the first enhanced service is evaluated by the difference between the first parameter and the second parameter of the first indicator.

4. The method according to claim 1, characterized in that, The observation data of the enhancement service is also used to indicate the first parameter of the second indicator of the first enhancement service. The first enhancement service includes at least one of ground-based enhancement service and low-orbit navigation enhancement service. The second indicator includes ionospheric delay. The first parameter of the second indicator includes the first parameter value corresponding to each grid point in the ionospheric grid. The evaluation of the enhanced service observation data based on the updated observation data, the low-Earth orbit satellite observation data, and the target platform observation data includes: The second parameter of the second index is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The second parameter of the second index includes the second parameter value corresponding to each grid point in the ionospheric grid. The difference between the first parameter value and the second parameter value corresponding to each grid point in the ionospheric grid is determined as the difference between each grid point in the ionospheric grid. The accuracy of the second metric of the first enhancement service is evaluated based on the standard deviation of the differences between the grid points in the ionospheric grid.

5. The method according to claim 1, characterized in that, The observation data of the enhanced service is also used to indicate the first parameter of the third indicator of the first enhanced service, wherein the first enhanced service includes at least one of ground-based enhanced service and low-orbit navigation enhanced service, and the third indicator includes the duration of service interruption; The method further includes: The availability of the first enhanced service is evaluated based on the ratio of the first parameter of the third indicator to the duration of the service interruption assessment period of the first enhanced service. The third parameter of the third indicator per unit time is obtained by subtracting the duration of the interruption plan of the first enhanced service within the unit time from the first parameter of the third indicator corresponding to the unit time. The continuity of the first enhanced service is evaluated based on the third parameter of the third indicator.

6. The method according to claim 1, characterized in that, The observation data of the enhancement service is used to indicate the first parameter of the fourth indicator of the first enhancement service, wherein the first enhancement service includes at least one of ground-based enhancement service and low-orbit navigation enhancement service, and the fourth indicator includes positioning results; The evaluation of the enhanced service observation data based on the updated observation data, the low-Earth orbit satellite observation data, and the target platform observation data includes: The second parameter of the fourth indicator is determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The first parameter and the second parameter of the fourth indicator are processed by coordinate unification to obtain the processed first parameter and the processed second parameter of the fourth indicator. The accuracy of the fourth indicator of the first enhanced service is evaluated based on the first difference between the first parameter of the processed fourth indicator and the second parameter of the processed fourth indicator.

7. The method according to claim 6, characterized in that, The method further includes: Samples are taken at the first time interval within the preset positioning time period to obtain multiple first differences; Obtain the second difference between each first difference and the preset positioning threshold, and obtain a Boolean function value for each second difference; Obtain a first ratio between the duration corresponding to the preset positioning time period and the duration corresponding to the first time interval, and obtain a first sum between the first ratio and the preset parameter value; The availability of the fourth metric of the first enhanced service is evaluated based on the ratio between the sum of the Boolean function values ​​corresponding to each second difference and the first sum.

8. The method according to claim 1, characterized in that, The observation data of the augmentation service is used to instruct the satellite-based augmentation service for multiple first coordinate parameters of the monitoring station over multiple time periods; The evaluation of the enhanced service observation data based on the updated observation data, the low-Earth orbit satellite observation data, and the target platform observation data includes: The second coordinate parameters of the monitoring station are determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. The coordinate difference between each first coordinate parameter and the second coordinate parameter is obtained, and the positioning accuracy of the satellite-based augmentation service is evaluated based on the deviation metric between the coordinate difference between each first coordinate parameter and the second coordinate parameter and the second coordinate parameter.

9. The method according to claim 1, characterized in that, The observation data of the augmentation service includes the availability time of slowly varying information, rapidly varying information, and ionospheric information of the satellite-based augmentation service; the method further includes: The intersection of the available time for slowly changing information, the available time for rapidly changing information, and the available time for ionospheric information is obtained to get the intersection time. The availability of the satellite-based augmentation service is evaluated based on the ratio between the duration of the intersection time and the runtime of the satellite-based augmentation service.

10. The method according to claim 1, characterized in that, The observation data of the augmentation service is used to indicate the third coordinate parameters of the satellite for which the satellite-based augmentation service is located; The evaluation of the enhanced service observation data based on the updated observation data, the low-Earth orbit satellite observation data, and the target platform observation data includes: The fourth coordinate parameters of the ground station are determined based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform. Determine the distance between the third coordinate parameter and the fourth coordinate parameter, and obtain the first duration between the signal transmitted by the satellite where the satellite-based augmentation service is located and the ground station; Obtain the first clock difference of the signal transmitted by the satellite where the satellite-based augmentation service is located and the second clock difference of the signal received by the ground station, and obtain the third difference between the first clock difference and the second clock difference; Obtain the first product between the speed of light and the first duration, and obtain the second product between the speed of light and the third difference; Subtract the product, the second product, the ionospheric delay correction parameter, and the tropospheric delay correction parameter from the distance between the third coordinate parameter and the fourth coordinate parameter to obtain the satellite ranging error value, and evaluate the satellite ranging error of the satellite-based augmentation service based on the satellite ranging error value.

11. The method according to any one of claims 1-10, characterized in that, The method further includes: After receiving the information indicating a positioning anomaly, the interference monitoring information of the abnormal ground station is obtained, and the positioning anomaly is determined based on the interference monitoring information to determine whether the positioning anomaly is caused by the environment where the abnormal ground station is located. If the location anomaly is not caused by the environment of the abnormal ground station, then obtain the location service information of ground stations within a preset distance of the abnormal ground station. If the location service information indicates that the location is normal, then determine that the abnormal ground station has an anomaly that has caused the location anomaly. If the abnormality is not caused by the abnormal ground station, then the location abnormality is determined based on the sky weather parameters, ionospheric delay parameters, and tropospheric delay parameters to determine whether the location abnormality is caused by the space atmospheric environment. If the positioning anomaly is not caused by the space atmospheric environment, then the equivalent ranging error and / or space signal ranging error of each satellite are obtained, and the target satellite causing the positioning anomaly is determined based on the equivalent ranging error and / or space signal ranging error of each satellite.

12. An observation data processing device, characterized in that, include: The observation data acquisition module is used to acquire observation data from ground stations, low-orbit satellites, and the target platform. The coordinate unification module is used to perform coordinate unification processing based on the observation data of the first coordinate system and the ground station to obtain the coordinates of the ground station after coordinate unification processing. The data update module is used to update the observation data of the ground station based on the coordinates of the ground station after the coordinate unification process, so as to obtain the updated observation data. The evaluation module is used to evaluate the observation data of the enhanced service based on the updated observation data, the observation data of the low-orbit satellite, and the observation data of the target platform.

13. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-11.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-11.

Images