Satellite navigation integrity monitoring method and device, electronic equipment and storage medium

Abstract

The invention provides a satellite navigation integrity monitoring method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving first enhancement information based on an air interface between a satellite and a terminal, and receiving second enhancement information based on a network interface between a data center and the terminal; determining a corresponding target monitoring algorithm based on the target integrity monitoring index of the terminal, wherein different integrity monitoring indexes have corresponding monitoring algorithms; performing integrity monitoring on the first enhanced information and the second enhanced information based on a target monitoring algorithm to correspondingly obtain a first monitoring result and a second monitoring result; and under the condition that the first monitoring result indicates that the integrity monitoring is passed and the second monitoring result indicates that the integrity monitoring is passed, determining target enhanced information of which the consistency comparison is completed in the first enhanced information and the second enhanced information. According to the invention, integrity monitoring of enhanced information can be realized.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a satellite navigation integrity monitoring method, device, electronic device, and storage medium. Background Technology

[0002] Integrity monitoring can reduce navigation errors. With the increasing demand for high-precision and high-integrity navigation, integrity monitoring of augmentation information in augmentation systems has become a research direction.

[0003] In some methods of monitoring the integrity of augmented information, augmented information is transmitted via satellite, and the terminal receives the augmented information to perform integrity monitoring. After the integrity monitoring is passed, the augmented information is applied. However, satellite-transmitted information is susceptible to interference and limitations, which may result in low reliability of the transmitted augmented information and reduce the accuracy of integrity monitoring. Summary of the Invention

[0004] This application provides a satellite navigation integrity monitoring method, device, electronic device, and storage medium, which can realize the integrity monitoring of enhanced information.

[0005] Firstly, a satellite navigation integrity monitoring method is proposed and applied to a terminal, the method comprising:

[0006] The first enhanced information is received based on the air interface between the satellite and the terminal, and the second enhanced information is received based on the network interface between the data center and the terminal.

[0007] Based on the target integrity monitoring indicators of the terminal, the corresponding target monitoring algorithm is determined, and different integrity monitoring indicators have corresponding monitoring algorithms.

[0008] Based on the target monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively to obtain the first monitoring result and the second monitoring result accordingly.

[0009] If the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed, the target enhancement information that has completed the consistency comparison between the first enhancement information and the second enhancement information is determined.

[0010] In one possible implementation, the target monitoring algorithm includes a primary target monitoring algorithm and a backup target monitoring algorithm; the step of performing integrity monitoring on the first enhanced information and the second enhanced information based on the target monitoring algorithm to obtain a first monitoring result and a second monitoring result accordingly includes:

[0011] In the first scenario, the integrity of the first enhanced information and the second enhanced information are monitored based on the target primary monitoring algorithm and the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0012] In the second scenario, the integrity of the first enhanced information and the second enhanced information is monitored based on the target primary monitoring algorithm or the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0013] In one possible implementation, integrity monitoring is performed on the first enhanced information and the second enhanced information based on the target primary monitoring algorithm and the target backup monitoring algorithm, respectively, to obtain a first monitoring result and a second monitoring result, including:

[0014] Based on the target master monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively to obtain the first master monitoring result and the second master monitoring result accordingly;

[0015] If the first primary monitoring result indicates that the integrity monitoring fails and / or the second primary monitoring result indicates that the integrity monitoring fails, the first primary monitoring result shall be determined as the first monitoring result, and the second primary monitoring result shall be determined as the second monitoring result;

[0016] If the first primary monitoring result indicates that the integrity monitoring has passed and the second primary monitoring result indicates that the integrity monitoring has passed, the first enhanced information and the second enhanced information are respectively monitored for integrity based on the target backup monitoring algorithm to obtain the first backup monitoring result and the second backup monitoring result accordingly.

[0017] The first monitoring result is determined based on the first primary monitoring result and the first backup monitoring result, and the second monitoring result is determined based on the second primary monitoring result and the second backup monitoring result.

[0018] In one possible implementation, the integrity monitoring of the first enhanced information and the second enhanced information based on the target primary monitoring algorithm or the target backup monitoring algorithm, respectively, to obtain a first monitoring result and a second monitoring result accordingly, includes:

[0019] When the target master monitoring algorithm is available, the integrity monitoring of the first enhancement information and the second enhancement information is performed based on the target master monitoring algorithm to obtain the first monitoring result and the second monitoring result respectively.

[0020] If the primary target monitoring algorithm is unavailable, the integrity of the first enhancement information and the second enhancement information is monitored based on the backup target monitoring algorithm, and the first monitoring result and the second monitoring result are obtained accordingly.

[0021] In one possible implementation, the method further includes:

[0022] Based on the network port, the predictive monitoring information is received and used to indicate the integrity monitoring prediction result of the second enhancement information;

[0023] When the predictive monitoring information indicates that the integrity monitoring has passed, the corresponding target monitoring algorithm is determined based on the target integrity monitoring index of the terminal.

[0024] In one possible implementation, the integrity monitoring of the first enhancement information and the second enhancement information based on the target monitoring algorithm, respectively, to obtain a first monitoring result and a second monitoring result, includes:

[0025] The first enhanced information and the second enhanced information are decrypted based on the key used to interact with the data center to obtain the decrypted first enhanced information and the decrypted second enhanced information.

[0026] Based on the target monitoring algorithm, the integrity of the decrypted first enhanced information and the decrypted second enhanced information are monitored respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0027] In one possible implementation, the second enhancement information includes multiple types of third enhancement information, with priority assigned among the different types of third enhancement information; the step of receiving the second enhancement information via the network interface between the data center and the terminal includes:

[0028] The various types of third-enhanced information are received sequentially based on priority.

[0029] Secondly, this application provides a satellite navigation integrity monitoring device, applied to a terminal, comprising:

[0030] The receiving module is used to receive first enhanced information based on the air interface between the satellite and the terminal, and to receive second enhanced information based on the network interface between the data center and the terminal.

[0031] The algorithm matching module is used to determine the corresponding target monitoring algorithm based on the target integrity monitoring index of the terminal. Different integrity monitoring indicators have corresponding monitoring algorithms.

[0032] The monitoring module is used to perform integrity monitoring on the first enhancement information and the second enhancement information respectively based on the target monitoring algorithm, and obtain the first monitoring result and the second monitoring result accordingly;

[0033] The information acquisition module is used to determine the target enhancement information that has completed a consistency comparison between the first enhancement information and the second enhancement information when both the first monitoring result and the second monitoring result indicate that the integrity monitoring has passed.

[0034] Thirdly, this application provides an electronic device, which includes: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the satellite navigation integrity monitoring method as described in the first aspect.

[0035] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the satellite navigation integrity monitoring method as described in the first aspect.

[0036] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the satellite navigation integrity monitoring method as described in the first aspect.

[0037] The satellite navigation integrity monitoring method, apparatus, electronic device, and storage medium provided in this application involve the satellite and data center collaboratively transmitting first and second enhancement information redundantly to the terminal. This avoids the problem of low reliability in integrity monitoring caused by relying solely on satellite-transmitted enhancement information. After receiving the first and second enhancement information, a target monitoring algorithm is matched according to the target integrity monitoring index to perform integrity monitoring on the first and second enhancement information. If the first and second monitoring results indicate that the integrity monitoring has passed, the target enhancement information that has completed a consistency comparison between the first and second enhancement information is obtained, thereby improving the reliability of the integrity monitoring and target enhancement information. This avoids the problem of low reliability of enhancement information caused by satellite-transmitted enhancement information being easily interfered with and restricted. Attached Figure Description

[0038] 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.

[0039] Figure 1 This is a schematic diagram illustrating an implementation scenario as shown in an exemplary embodiment;

[0040] Figure 2 This is a flowchart illustrating a satellite navigation integrity monitoring method as an exemplary embodiment;

[0041] Figure 3 This is a flowchart illustrating a satellite navigation integrity monitoring method, as shown in another exemplary embodiment.

[0042] Figure 4 This is a flowchart illustrating a satellite navigation integrity monitoring method, as shown in another exemplary embodiment.

[0043] Figure 5 This is a structural diagram of a satellite navigation integrity monitoring device shown in an exemplary embodiment;

[0044] Figure 6 This is a structural diagram of an electronic device illustrated in an exemplary embodiment.

[0045] 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

[0046] 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.

[0047] The demand for integrity monitoring in navigation systems is constantly expanding. Integrity performance is reflected in three parameters: alarm threshold, alarm time, and integrity risk. Integrity risk refers to the probability that, at any location within the coverage area, the user's positioning error exceeds the alarm limit, but the system fails to issue an alarm message to the user within the alarm time.

[0048] In the civil aviation field, there are two main methods for ensuring the integrity of the Global Navigation Satellite System (GNSS): one is the internal method, which uses information from the aircraft's internal sensors to monitor integrity, such as using redundant information from the GNSS receiver or other auxiliary information such as barometric altimeter and inertial navigation; the other is the external method, which involves setting up monitoring stations on the ground to monitor the status of GNSS satellites and then broadcasting the information to terminals. Satellite-based augmentation systems and ground-based augmentation systems belong to this category. The system provides integrity information for the corrections while determining the error correction values.

[0049] Satellite-based augmentation systems utilize widely distributed and precisely located ground monitoring stations to observe satellites and calculate corrections and integrity information related to the satellites and the ionosphere, thereby enhancing the accuracy and integrity of users within the service area. Satellite-based augmentation is divided into single-frequency and dual-frequency services. The single-frequency service level is the Approach with Vertical Guidance 1 (APV-1), and the dual-frequency service level is CAT-1 (a precision approach level).

[0050] Receiver Autonomous Integrity Monitoring (RAIM) refers to a method for rapid satellite fault monitoring using redundant observations. RAIM performs fault monitoring when used as an auxiliary navigation system and requires fault detection and identification when used as the sole navigation system. However, RAIM can only perform monitoring and identification of single faults in a single constellation and provides non-precision approach level horizontal navigation services.

[0051] Advanced Receiver Autonomous Integrity Monitoring (ARAIM) is an extension of receiver autonomous integrity monitoring. ARAIM uses dual-frequency measurements to remove most ionospheric errors, with residuals conforming to a more sensitive threshold, and can monitor smaller position errors without loss of confidence. ARAIM can perform dual-frequency, multi-constellation fault detection and identification, providing navigation services from non-precision approaches (NPA) to localizer performance with vertical guidance 200 feet (LPV-200), with future upgrades to CAT-1 level navigation service performance.

[0052] With the ever-expanding demand for high-precision and high-integrity navigation in life safety-related industries such as civil aviation, maritime, highway, and low-altitude aviation, the research and application of integrity monitoring are booming. In the aviation industry, multi-level satellite navigation integrity monitoring methods based on single-frequency satellite-based augmentation systems and receiver autonomous integrity monitoring, as well as methods based on dual-frequency satellite-based augmentation systems, advanced receiver autonomous integrity monitoring, and receiver autonomous satellite navigation integrity monitoring, are gradually being developed. In the maritime field, single-frequency satellite-based augmentation systems and receiver autonomous integrity monitoring ensure the reliability of terminal integrity monitoring results.

[0053] Some methods for enhancing the integrity of information propose establishing multi-level integrity monitoring from the system level, subsystem level to sensor level based on the working mode and redundant structure configuration of the navigation system. However, this method focuses on multi-source information fusion and internal autonomous integrity monitoring, without considering more mature external integrity monitoring methods such as satellite-based and ground-based augmentation.

[0054] Some enhanced information integrity monitoring methods propose acquiring continuous multi-level integrity monitoring results for a specific satellite or correction value. For any two consecutive levels of integrity monitoring results, if the subsequent level's result is an alarm and the preceding level's result is not an alarm, then during the effective period of the subsequent level's result, the satellite or correction value, after being downweighted, is used in the positioning calculation. This effectively mitigates the problem of abrupt changes in positioning results and is beneficial for the application of positioning results in the field of automatic control. This patent focuses on optimizing integrity monitoring positioning results.

[0055] Some methods for enhancing the integrity of navigation information (RAIM) involve receiving navigation observations from ground monitoring stations, ephemeris and clock errors in satellite space signals, predicting the availability of routes within the region based on autonomous satellite navigation integrity, and broadcasting the results to the aircraft. Airborne navigation equipment utilizes prior information broadcast from the ground to monitor for malfunctions in the received navigation satellites, ensuring navigation integrity during flight. However, this method only addresses RAIM integrity monitoring and does not consider satellite-ground coordination.

[0056] Some methods for enhancing the integrity of information propose that network operators utilize Code Division Multiple Access (CDMA), Global System for Mobile Communications (GSM), and Universal Mobile Telecommunications System (UMTS) technologies via cellular networks to provide receivers with orbit, time, frequency, and location information that enhances the performance of the Global Positioning System (GPS), GNSS, and Satellite-Based Augmentation System (SBAS). This emphasizes improvements in receiver efficiency during search, acquisition, and tracking. However, this approach focuses on reducing the time to first positioning (HPM) without considering enhancements to overall integrity and the security of satellite-to-ground transmission.

[0057] Therefore, it is evident that enhanced information integrity monitoring focuses on solving problems such as information-level multi-source fusion, subset decomposition optimization in fault monitoring and identification, computational efficiency optimization, and smoothing of positioning results. It pays more attention to the generation of system integrity parameters and optimization of user terminal algorithms, and pays less attention to possible propagation segment faults. When relying solely on satellite propagation of enhanced information, a single point of failure in the satellite may lead to a complete service interruption. Furthermore, the integrity alarm information broadcasting path is singular, and there is a risk of transmission delay and loss.

[0058] In increasingly complex electromagnetic environments and with the continuous advancement of jamming and deception technologies, satellites may fail to correctly transmit augmentation information to terminals. Furthermore, GNSS signals are inherently vulnerable, and geostationary orbit (GEO) satellites that broadcast satellite-based augmentation may be obstructed. In scenarios such as urban canyons and tunnels where space signal transmission is limited, and in interference scenarios such as malicious tampering of space signal integrity information or shielding of space signals, the augmentation information transmitted by satellites may fail to reach the terminal correctly and in a timely manner. Therefore, how to monitor the reliability of augmentation information has become an urgent problem to be solved.

[0059] Based on this, this case proposes a satellite navigation integrity monitoring method in which both the satellite and the data center send augmentation information to the terminal. This avoids the problem of low reliability caused by relying solely on the augmentation information sent by the satellite in integrity monitoring. Furthermore, by jointly monitoring the integrity of the two augmentation information sources, the reliability of integrity monitoring is improved to determine whether the integrity monitoring has passed.

[0060] 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 satellites, data centers, and terminals.

[0061] In some embodiments, satellites, data centers, and terminals are connected in pairs for communication.

[0062] In some embodiments, the data center may generate enhancement information for integrity monitoring.

[0063] In some embodiments, the data center uploads the generated augmentation information to a satellite.

[0064] In some embodiments, the data center is one or more of a satellite-based augmentation system data processing center, a space-based augmentation system integrity support message generator, etc.

[0065] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriberstation, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, and client can be used interchangeably.

[0066] In some embodiments, the terminal receives first enhanced information based on the air interface between the satellite and the terminal, and receives second enhanced information based on the network interface between the data center and the terminal; the corresponding target monitoring algorithm is determined based on the target integrity monitoring index of the terminal, and different integrity monitoring indexes have corresponding monitoring algorithms.

[0067] The terminal performs integrity monitoring on the first enhancement information and the second enhancement information based on the target monitoring algorithm, and obtains the first monitoring result and the second monitoring result accordingly; if the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed, the target enhancement information that has completed the consistency comparison between the first enhancement information and the second enhancement information is determined.

[0068] After confirming that the integrity monitoring of the first and second enhancement information has passed, the terminal can apply the target enhancement information.

[0069] The satellite navigation integrity monitoring method in this application can be implemented in a terminal, and the corresponding satellite navigation integrity monitoring device is installed in the terminal.

[0070] Figure 2This is a flowchart illustrating an exemplary embodiment of a satellite navigation integrity monitoring method applied to a terminal. The satellite navigation integrity monitoring method may include:

[0071] S201. Receive first enhanced information based on the air interface between the satellite and the terminal, and receive second enhanced information based on the network interface between the data center and the terminal.

[0072] In some embodiments, the data center generates satellite-based augmentation information and ARAIM integrity enhancement information.

[0073] In some embodiments, the data center organizes the generated satellite-based augmentation information and ARAIM integrity enhancement information, and uploads the organized satellite-based augmentation information and ARAIM integrity enhancement information to the satellite through operation and control. The satellite receives the organized satellite-based augmentation information and ARAIM integrity enhancement information and generates the first enhancement information to be sent to the terminal.

[0074] In some embodiments, satellite-based augmentation information includes augmentation information and integrity support data (ISD).

[0075] In some embodiments, the data center collects GNSS observation data from global monitoring stations to generate ARAIM integrity enhancement information.

[0076] The enhanced information and ISD include one or more of the following: product reference time, clock correction, ephemeris correction, pseudorange rapid change correction, ionospheric grid vertical delay correction, user differential range error (UDRE) integrity parameter, geometric integrity value / geometric integrity element (GIVE) integrity parameter, differential fault range error (DFRE) integrity parameter, and integrity degradation parameter.

[0077] In some embodiments, the data center orchestrates the augmentation information and ISD, following the principle of whole-packet orchestration of variable data volume, integrating necessary orchestration elements such as product identification head, product type, generation time, and verification information to obtain orchestrated satellite-based augmentation information.

[0078] In some embodiments, the data center collects GNSS observation data from global monitoring stations to establish a nominal / fault stripping mechanism to obtain random errors, nominal errors, and satellite / constellation fault samples of space signals. Based on the error envelope method, it determines the high-confidence upper bound of statistical error samples. Based on historical data and dynamic real-time samples, it estimates the a priori fault probability of satellites / constellations, accurately characterizes the core constellation performance, and generates ARAIM integrity enhancement information, including single-satellite fault rate, constellation fault rate, upper bound of user pseudorange error (URA), user range error (URE) parameter for a single observation, and maximum nominal offset value of satellites. Then, it integrates necessary orchestration elements such as different constellation types, ARAIM service levels, timestamps, validity periods, and verification information to perform ISM message orchestration on the ARAIM integrity enhancement information, resulting in orchestrated ARAIM integrity enhancement information.

[0079] In some embodiments, the information in the data is used to generate second enhancement information that is sent to the terminal based on the arranged satellite-based augmentation information and ARAIM integrity enhancement information.

[0080] In some embodiments, a time base maintenance module may be provided, which is responsible for establishing a unified time base for the transmission of the first enhancement information and the second enhancement information, so that the terminal can obtain the first enhancement information and the second enhancement information from the same reliable information source, which is the key to the coordination mechanism.

[0081] In other words, the time reference maintenance module can ensure that the first and second enhancement information received by the terminal within a certain time period are generated by the same arranged satellite-based enhancement information and ARAIM integrity enhancement information.

[0082] In some embodiments, the air interface between the satellite and the terminal is a wireless radio frequency link between the terminal and the satellite, that is, the satellite sends the first enhancement information to the terminal through the air interface.

[0083] In some embodiments, the network port between the data center and the terminal is a network port through which data can be transmitted between the data center and the terminal, that is, the data center sends the second enhanced information to the terminal through the network port.

[0084] In this embodiment, the data center and satellite redundantly send enhanced information to the terminal. Subsequently, the terminal performs integrity monitoring based on the enhanced information received from the air interface and network interface, thereby improving the reliability of integrity monitoring and avoiding the problem of low reliability of integrity monitoring caused by relying solely on enhanced information transmitted by satellite.

[0085] S202. Based on the target integrity monitoring indicators of the terminal, determine the corresponding target monitoring algorithm. Different integrity monitoring indicators have corresponding monitoring algorithms.

[0086] In some embodiments, integrity monitoring indicators include one or more of the following: integrity monitoring service area, performance requirements, availability prediction, terminal computing load, historical false alarm rate and missed alarm rate.

[0087] The integrity monitoring index of the target is the current integrity monitoring index after the terminal receives the first enhancement information and the second enhancement information.

[0088] In some embodiments, different integrity monitoring indicators correspond to different monitoring algorithms.

[0089] This monitoring algorithm is an integrity monitoring algorithm.

[0090] In some embodiments, integrity monitoring indicators include performance requirements. When the performance requirement is NPA, the corresponding monitoring algorithm is RAIM FDE (Single Satellite Fault Detection and Troubleshooting Algorithm). For example, under the performance requirement of APV-I (with instruments located in horizontal and vertical guidance but without strict Cat I accuracy requirements), the corresponding monitoring algorithm is SBAS integrity monitoring.

[0091] In some embodiments, the monitoring algorithm includes a primary monitoring algorithm and a backup monitoring algorithm, that is, a complete monitoring indicator has a corresponding primary monitoring algorithm and a corresponding backup monitoring algorithm.

[0092] For example, integrity monitoring indicators include performance requirements. When the performance requirement is NPA, the primary monitoring algorithm is RAIM FDE, and the backup monitoring algorithms include one or more of single-frequency SBAS, DFMC SBAS (integrity monitoring across multiple constellations / sources), and H-ARAIM (ARAIM for candidate hazardous areas). As another example, under the APV-I performance requirement, the primary monitoring algorithm is single-frequency SBAS, and the backup monitoring algorithms include one or more of DFMC SBAS integrity monitoring and V-ARAIM offline (offline integrity monitoring). Under the CAT-I performance requirement, the primary monitoring algorithm is DFMC SBAS, and the backup monitoring algorithm is V-ARAIM online (online integrity monitoring).

[0093] S203. Based on the target monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0094] In some embodiments, the integrity of the first enhancement information and the second enhancement information is monitored by a target monitoring algorithm, and a first monitoring result and a second monitoring result are obtained accordingly. The first monitoring result can indicate whether the first enhancement information passes or fails, and the second monitoring result can indicate whether the second enhancement information passes or fails.

[0095] In some embodiments, the integrity of the second enhanced information received by the network port can be monitored first. If the second monitoring result indicates that the second enhanced information has failed, the integrity monitoring of the first enhanced information can be stopped. If the first monitoring result indicates that the first enhanced information has failed, the integrity fault handling process can be executed directly.

[0096] S204. If both the first monitoring result and the second monitoring result indicate that the integrity monitoring has passed, determine the target enhancement information that has completed the consistency comparison between the first enhancement information and the second enhancement information.

[0097] In some embodiments, if the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed, a buffer information comparison mechanism can be applied to compare the consistency between the first enhancement information and the second enhancement information, determine the target enhancement information that has completed the consistency comparison between the first enhancement information and the second enhancement information, and apply the target enhancement information.

[0098] In this embodiment, the satellite and data center collaboratively send redundant first and second enhancement information to the terminal. This avoids the problem of low reliability in integrity monitoring caused by relying solely on the enhancement information sent by the satellite. After receiving the first and second enhancement information, a target monitoring algorithm is matched according to the target integrity monitoring index. The first and second enhancement information are then monitored for integrity using the target monitoring algorithm. If the first and second monitoring results indicate that the integrity monitoring has passed, the target enhancement information that has completed a consistency comparison between the first and second enhancement information is obtained. This improves the reliability of the integrity monitoring and the target enhancement information, and avoids the problem of low reliability of the enhancement information caused by the satellite being easily interfered with and restricted.

[0099] Figure 3 This is a flowchart illustrating a satellite navigation integrity monitoring method, as shown in another exemplary embodiment. Figure 3 As Figure 2 One possible implementation of step S203 is that... Figure 3 A method for evaluating the primary metric of service enhancement may be proposed, which may include:

[0100] S301. In the first scenario, the integrity of the first enhanced information and the second enhanced information are monitored based on the target primary monitoring algorithm and the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0101] In some embodiments, the first scenario is a scenario that requires extremely high navigation accuracy and integrity, such as high-life-safety operations like approach and landing. In this case, both the primary target monitoring algorithm and the backup target monitoring algorithm need to perform integrity monitoring on the first and second augmented information.

[0102] In some embodiments, the integrity of the first enhancement information and the second enhancement information is monitored based on the target master monitoring algorithm, and the first master monitoring result and the second master monitoring result are obtained accordingly.

[0103] If the first primary monitoring result indicates that the integrity monitoring fails and / or the second primary monitoring result indicates that the integrity monitoring fails, the first primary monitoring result shall be determined as the first monitoring result, and the second primary monitoring result shall be determined as the second monitoring result.

[0104] When both the first primary monitoring result and the second primary monitoring result indicate that the integrity monitoring has passed, integrity monitoring is performed on the first enhanced information and the second enhanced information based on the target backup monitoring algorithm, and the first backup monitoring result and the second backup monitoring result are obtained accordingly; the first primary monitoring result and the first backup monitoring result are determined as the first monitoring result, and the second primary monitoring result and the second backup monitoring result are determined as the second monitoring result.

[0105] S302. In the second scenario, the integrity of the first enhanced information and the second enhanced information are monitored based on the target primary monitoring algorithm or the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

[0106] The navigation accuracy and integrity requirements for the second scenario are lower than those for the first scenario. In this case, the target primary monitoring algorithm or the target backup monitoring algorithm can perform integrity monitoring on the first and second augmented information, respectively.

[0107] In some embodiments, in the second scenario, when the target primary monitoring algorithm is available, the integrity of the first enhanced information and the second enhanced information is monitored based on the target primary monitoring algorithm, and the first monitoring result and the second monitoring result are obtained accordingly; when the target primary monitoring algorithm is unavailable, the integrity of the first enhanced information and the second enhanced information is monitored based on the target backup monitoring algorithm, and the first monitoring result and the second monitoring result are obtained accordingly.

[0108] In the second scenario, the primary target monitoring algorithm is used first to monitor the integrity of the first and second augmented information. If the primary target monitoring algorithm is unavailable, the backup target monitoring algorithm is used.

[0109] In some embodiments, the number of target master monitoring algorithms may be one or more. When the number of target master monitoring algorithms is multiple, one or more of them can be used to perform integrity monitoring on the first enhancement information and the second enhancement information respectively.

[0110] In some embodiments, the number of target backup monitoring algorithms may be one or more. When the number of target backup monitoring algorithms is multiple, one or more of them can be used to monitor the integrity of the first enhancement information and the second enhancement information respectively.

[0111] In some implementation sets, when there are multiple target master monitoring algorithms, the one or more target master monitoring algorithms selected by the multiple target master monitoring algorithms to perform integrity monitoring on the first enhancement information and the second enhancement information can be the same, different, or partially the same.

[0112] In some sets of embodiments, when there are multiple target backup monitoring algorithms, the one or more target backup monitoring algorithms selected by the multiple target backup monitoring algorithms to perform integrity monitoring on the first enhancement information and the second enhancement information can be the same, different, or partially the same.

[0113] In some embodiments, the data center may also generate predictive monitoring information, which the terminal can then access. Figure 2 Before step S202, it is determined whether integrity monitoring is required based on the predictive monitoring information.

[0114] In some embodiments, predictive monitoring information is received via the network port, and the predictive monitoring information is used to indicate the integrity monitoring prediction result of the second enhancement information; when the predictive monitoring information indicates that the integrity monitoring has passed, the corresponding target monitoring algorithm is determined based on the target integrity monitoring index of the terminal.

[0115] In some embodiments, leveraging the network bandwidth advantage of the network port, the data center can also send predictive monitoring information to the terminal.

[0116] In some embodiments, the data center obtains predictive monitoring information based on real-time monitoring data, historical statistical models, spatial correlation error models, and predictions of whether the second enhanced information for future states (especially ionospheric activity) can pass integrity monitoring. If the alarm limit is not exceeded, the received predictive monitoring information indicates that the integrity monitoring prediction result of the second enhanced information is passed, and the terminal can continue to perform integrity monitoring on the second enhanced information.

[0117] In some embodiments, the historical statistical model and spatial correlation error model can be one or more of a machine model, a statistical model, etc.

[0118] For example, if the received predictive monitoring information indicates that the integrity monitoring prediction result of the second enhanced information has failed, the terminal may not perform integrity monitoring on the second enhanced information, that is, it may not execute steps S202 to S204, but instead wait for the first and second enhanced information in the next cycle, according to... Figure 2 The integrity monitoring is performed in the manner shown.

[0119] The terminal can determine the availability of the second enhancement information through this predictive monitoring information. If the predictive monitoring information indicates that the integrity monitoring has passed, it means the second enhancement information is available. At this point, the terminal can proceed according to... Figure 2 The integrity monitoring is performed in the manner shown. Otherwise, the terminal can directly determine that the second enhancement information is unavailable, without the need for further integrity monitoring, thereby improving the efficiency of terminal integrity monitoring and saving terminal computing resources.

[0120] In some embodiments, the first enhancement information and the second enhancement information can be encrypted transmission information. In this case, the data center can also transmit encrypted information to the terminal, which includes a key.

[0121] In some embodiments, the terminal decrypts the first enhanced information and the second enhanced information based on the key used to interact with the data center, obtaining the decrypted first enhanced information and the decrypted second enhanced information; and performs integrity monitoring on the decrypted first enhanced information and the decrypted second enhanced information based on the target monitoring algorithm, thereby obtaining the first monitoring result and the second monitoring result.

[0122] In some embodiments, leveraging the network bandwidth advantage of the network port, the data center can also send encrypted information to the terminal.

[0123] In some embodiments, the data center generates a key and a signing certificate for enhanced security, and the public key infrastructure issues a key and a signing certificate that meet the security requirements. The encryption cipher machine performs encryption processing on the enhanced information sent by the data center to the terminal to obtain the second enhanced information.

[0124] In some embodiments, the data center includes a satellite-ground public key infrastructure module, which is responsible for managing the issuance, updating, revocation, and destruction of materials such as keys and certificates.

[0125] In some embodiments, the key may be a key determined through negotiation between the data center and the terminal, and the data center and the terminal may negotiate the corresponding key through different encryption algorithms.

[0126] In some embodiments, the data center may also send a key to a satellite, which uses the key to encrypt the enhanced information to be sent to the terminal to obtain the first enhanced information.

[0127] In some embodiments, the data center may also encrypt the augmentation information sent to the satellite, and the satellite may generate first augmentation information based on the encrypted augmentation information.

[0128] In some embodiments, the terminal receives encrypted information sent by the data center and completes authentication and decryption.

[0129] In some embodiments, the first enhanced information and the second enhanced information are decrypted based on the key used to interact with the data center to obtain the decrypted first enhanced information and the decrypted second enhanced information.

[0130] The integrity of the first and second enhanced information after decryption is monitored based on the target monitoring algorithm, and the first and second monitoring results are obtained accordingly. The method of monitoring the integrity of the first and second enhanced information after decryption based on the target monitoring algorithm can refer to the method of monitoring the integrity of the first and second enhanced information based on the target monitoring algorithm, which will not be elaborated here.

[0131] Understandably, when the first and second enhancement information are encrypted, the target enhancement information is the information that completes a consistency comparison between the decrypted first and second enhancement information.

[0132] In some embodiments, when transmitting the second enhancement information, the data center may also set priorities for different types of third enhancement information and send the second enhancement information according to the priorities.

[0133] Accordingly, the terminal receives the various types of third enhancement information in sequence based on priority among them.

[0134] The priority of this different type of third-party enhanced information can be set according to the urgency of the alarm, the weight of data integrity, or empirical parameters; no specific restrictions are imposed here.

[0135] In some embodiments, the transmission of the second enhancement information of the network port is realized through the Internet. The second enhancement information is sent in the data center. A buffer can be set up so that a complete set of enhancement information is broadcast when the terminal first connects, reducing the terminal startup time.

[0136] In some embodiments, the second enhancement information can be sent to the terminal through one or more pieces of information. The information in the second enhancement information is classified to obtain various types of third enhancement information. The different types of third enhancement information have priorities. When the data center sends the second enhancement information, it can send the third enhancement information with higher priority according to the priority between the different types of third enhancement information.

[0137] For example, the third enhanced information for alarm type and the third enhanced information for integrity type have higher priority. When the second enhanced information is sent through multiple information, the third enhanced information for alarm type and the third enhanced information for integrity type are sent first. That is, the data center sends the third enhanced information of multiple types in sequence based on the priority among the multiple types of third enhanced information. Correspondingly, the terminal receives the third enhanced information of multiple types in sequence based on the priority among the multiple types of third enhanced information.

[0138] Figure 4 This is a flowchart illustrating a satellite navigation integrity monitoring method, as shown in another exemplary embodiment. Figure 4 As Figure 3 One possible implementation of step S201 may include:

[0139] S401. Based on the target main monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively, and the first main monitoring result and the second main monitoring result are obtained accordingly.

[0140] In some embodiments, in the first scenario, the target primary monitoring algorithm and the target backup monitoring algorithm need to jointly monitor the integrity of the first and second enhancement information.

[0141] The primary target monitoring algorithm should have a higher priority than the backup target monitoring algorithm. Therefore, the primary target monitoring algorithm can be used to monitor the integrity of the first and second enhanced information respectively, and the primary and second primary monitoring results can be obtained accordingly.

[0142] S402. If the first primary monitoring result indicates that the integrity monitoring fails and / or the second primary monitoring result indicates that the integrity monitoring fails, the first primary monitoring result shall be determined as the first monitoring result, and the second primary monitoring result shall be determined as the second monitoring result.

[0143] In some embodiments, if either the first primary monitoring result or the second primary monitoring result indicates that the integrity monitoring has failed, the integrity fault handling process is executed directly. In this case, there is no need to monitor the target backup monitoring algorithm. The first primary monitoring result can be determined as the first monitoring result, and the second primary monitoring result can be determined as the second monitoring result.

[0144] S403. If the first primary monitoring result indicates that the integrity monitoring has passed and the second primary monitoring result indicates that the integrity monitoring has passed, the first enhanced information and the second enhanced information are monitored for integrity based on the target backup monitoring algorithm, and the first backup monitoring result and the second backup monitoring result are obtained accordingly.

[0145] In some embodiments, if both the first primary monitoring result and the second primary monitoring result indicate that the integrity monitoring has passed, the target backup monitoring algorithm can be monitored. Based on the target backup monitoring algorithm, the first enhancement information and the second enhancement information are monitored for integrity, and the first backup monitoring result and the second backup monitoring result are obtained accordingly.

[0146] S404. Determine the first monitoring result based on the first primary monitoring result and the first backup monitoring result, and determine the second monitoring result based on the second primary monitoring result and the second backup monitoring result.

[0147] In some embodiments, if either the first primary monitoring result or the first backup monitoring result indicates that the integrity monitoring has failed, then it is determined that the first monitoring result indicates that the integrity monitoring has failed.

[0148] In some embodiments, if both the first primary monitoring result and the first backup monitoring result indicate that the integrity monitoring has passed, then it is determined that the first monitoring result indicates that the integrity monitoring has passed.

[0149] In some embodiments, if either the second primary monitoring result or the second backup monitoring result indicates that the integrity monitoring has failed, then the second monitoring result indicates that the integrity monitoring has failed.

[0150] In some embodiments, if both the second primary monitoring result and the second backup monitoring result indicate that the integrity monitoring has passed, then it is determined that the second monitoring result indicates that the integrity monitoring has passed.

[0151] In this embodiment of the application, in the first scenario where navigation accuracy and integrity requirements are extremely high, the integrity monitoring results of the first enhancement information and / or the second enhancement information are only determined to be acceptable when both the monitoring results of the primary target monitoring algorithm and the backup target monitoring algorithm indicate that the target has passed the test. This ensures the reliability of using target enhancement information in scenarios where navigation accuracy and integrity requirements are extremely high.

[0152] In this embodiment, the satellite and data center perform satellite-ground collaborative redundant broadcasting of enhanced information, and the satellite and data center adhere to the same time base, enabling the terminal to obtain redundant enhanced information from the same reliable information source, thus alleviating the problem of integrity monitoring in scenarios where enhanced information solely relying on satellite transmission is interfered with by space signals.

[0153] In this embodiment, taking advantage of the large bandwidth of terrestrial communication, the data center sends encrypted information and predictive monitoring information. The encrypted information, such as certificates, signatures, and keys, assists in the encryption authorization and authentication of information sent over the air interface. At the same time, network information encryption algorithms are applied to ensure the security of network interface transmission.

[0154] In this embodiment, a different message broadcasting strategy than that of fixed length and fixed rate for spatial signals is adopted. The data center broadcasts the entire message and the same type of packet when the terminal accesses it. It also sets the priority between different types of third enhancement information, and prioritizes sending third enhancement information of alarm type to accelerate the start-up time of integrity monitoring function and optimize user experience.

[0155] In this embodiment, the terminal uses the first enhancement information and the first enhancement information to perform consistency comparison of target enhancement data in the main monitoring algorithm and the backup monitoring algorithm, in the case of no GNSS enhancement signal (including receiver cold start) or poor GNSS enhancement signal quality, signal distortion, etc., to ensure the integrity of the information level.

[0156] Figure 5 This is a structural diagram of a satellite navigation integrity monitoring device illustrated in an exemplary embodiment. The satellite navigation integrity monitoring device includes:

[0157] The receiving module 510 is used to receive first enhanced information based on the air interface between the satellite and the terminal, and to receive second enhanced information based on the network interface between the data center and the terminal.

[0158] The algorithm matching module 520 is used to determine the corresponding target monitoring algorithm based on the target integrity monitoring index of the terminal. Different integrity monitoring indicators have corresponding monitoring algorithms.

[0159] Monitoring module 530 is used to perform integrity monitoring on the first enhancement information and the second enhancement information based on the target monitoring algorithm, and obtain the first monitoring result and the second monitoring result accordingly;

[0160] The information acquisition module 540 is used to determine the target enhancement information that completes the consistency comparison between the first enhancement information and the second enhancement information when the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed.

[0161] In one possible implementation, the monitoring module 530 includes:

[0162] The first monitoring unit is used to perform integrity monitoring on the first enhanced information and the second enhanced information based on the target primary monitoring algorithm and the target backup monitoring algorithm respectively in the first scenario, and obtain the first monitoring result and the second monitoring result accordingly.

[0163] The second monitoring unit is used to perform integrity monitoring on the first enhanced information and the second enhanced information based on the target primary monitoring algorithm or the target backup monitoring algorithm in the second scenario, and obtain the first monitoring result and the second monitoring result accordingly.

[0164] In one possible implementation, the first monitoring unit includes:

[0165] The first monitoring module is used to perform integrity monitoring on the first enhanced information and the second enhanced information based on the target main monitoring algorithm, and obtain the first main monitoring result and the second main monitoring result accordingly.

[0166] The second monitoring module is used to determine the first main monitoring result as the first monitoring result and the second main monitoring result as the second monitoring result when the first main monitoring result indicates that the integrity monitoring fails and / or the second main monitoring result indicates that the integrity monitoring fails.

[0167] The third monitoring module is used to perform integrity monitoring on the first enhanced information and the second enhanced information based on the target backup monitoring algorithm when the first main monitoring result indicates that the integrity monitoring has passed and the second main monitoring result indicates that the integrity monitoring has passed, so as to obtain the first backup monitoring result and the second backup monitoring result respectively.

[0168] The fourth monitoring module is used to determine the first monitoring result based on the first primary monitoring result and the first backup monitoring result, and to determine the second monitoring result based on the second primary monitoring result and the second backup monitoring result.

[0169] In one possible implementation, the second monitoring unit includes:

[0170] The fifth monitoring module is used to monitor the integrity of the first and second enhanced information based on the target master monitoring algorithm when the target master monitoring algorithm is available, and obtain the first and second monitoring results accordingly.

[0171] The sixth monitoring module is used to monitor the integrity of the first and second enhanced information based on the target backup monitoring algorithm when the target main monitoring algorithm is unavailable, and obtain the first and second monitoring results accordingly.

[0172] In one feasible implementation, the satellite navigation integrity monitoring device further includes:

[0173] The prediction information receiving module is used to receive prediction monitoring information via the network port. The prediction monitoring information is used to indicate the integrity monitoring prediction results of the second enhancement information.

[0174] The predictive processing module is used to determine the corresponding target monitoring algorithm based on the target integrity monitoring indicators of the terminal when the predictive monitoring information indicates that the integrity monitoring has passed.

[0175] In one possible implementation, the monitoring module 530 includes:

[0176] The decryption unit is used to decrypt the first enhanced information and the second enhanced information based on the key exchanged with the data center, so as to obtain the decrypted first enhanced information and the decrypted second enhanced information.

[0177] The monitoring unit is used to perform integrity monitoring on the decrypted first enhanced information and the decrypted second enhanced information based on the target monitoring algorithm, and obtain the first monitoring result and the second monitoring result accordingly.

[0178] In one possible implementation, the second enhancement information includes multiple types of third enhancement information, with priority assigned among the various types of third enhancement information; the receiving module 510 includes:

[0179] The information receiving unit is used to receive multiple types of third enhancement information sequentially based on priority among them.

[0180] The satellite navigation integrity monitoring device provided in this embodiment can be used to perform the satellite navigation integrity monitoring method described above. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0181] Figure 6 This is a structural diagram of an electronic device illustrated in an exemplary embodiment. Please refer to [link / reference]. Figure 6 The 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 satellite navigation integrity monitoring method shown in any of the above method embodiments.

[0182] 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.

[0183] 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 satellite navigation integrity monitoring method as described in any of the above embodiments.

[0184] 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.

[0185] 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.

[0186] 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 monitoring the integrity of satellite navigation systems, characterized in that, Applied to a terminal, the method includes: The first enhanced information is received based on the air interface between the satellite and the terminal, and the second enhanced information is received based on the network interface between the data center and the terminal. Based on the target integrity monitoring indicators of the terminal, the corresponding target monitoring algorithm is determined, and different integrity monitoring indicators have corresponding monitoring algorithms. Based on the target monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively to obtain the first monitoring result and the second monitoring result accordingly. If the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed, the target enhancement information that has completed the consistency comparison between the first enhancement information and the second enhancement information is determined.

2. The method according to claim 1, characterized in that, The target monitoring algorithm includes a primary target monitoring algorithm and a backup target monitoring algorithm; the integrity monitoring of the first enhanced information and the second enhanced information based on the target monitoring algorithm, respectively, to obtain a first monitoring result and a second monitoring result, includes: In the first scenario, the integrity of the first enhanced information and the second enhanced information are monitored based on the target primary monitoring algorithm and the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly. In the second scenario, the integrity of the first enhanced information and the second enhanced information is monitored based on the target primary monitoring algorithm or the target backup monitoring algorithm, respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

3. The method according to claim 2, characterized in that, The integrity monitoring of the first enhanced information and the second enhanced information is performed based on the target primary monitoring algorithm and the target backup monitoring algorithm, respectively, to obtain the first monitoring result and the second monitoring result accordingly, including: Based on the target master monitoring algorithm, the integrity of the first enhanced information and the second enhanced information are monitored respectively to obtain the first master monitoring result and the second master monitoring result accordingly; If the first primary monitoring result indicates that the integrity monitoring fails and / or the second primary monitoring result indicates that the integrity monitoring fails, the first primary monitoring result shall be determined as the first monitoring result, and the second primary monitoring result shall be determined as the second monitoring result; If the first primary monitoring result indicates that the integrity monitoring has passed and the second primary monitoring result indicates that the integrity monitoring has passed, the first enhanced information and the second enhanced information are respectively monitored for integrity based on the target backup monitoring algorithm to obtain the first backup monitoring result and the second backup monitoring result accordingly. The first monitoring result is determined based on the first primary monitoring result and the first backup monitoring result, and the second monitoring result is determined based on the second primary monitoring result and the second backup monitoring result.

4. The method according to claim 2, characterized in that, The integrity monitoring of the first enhanced information and the second enhanced information is performed based on the target primary monitoring algorithm or the target backup monitoring algorithm, respectively, to obtain the first monitoring result and the second monitoring result accordingly, including: When the target master monitoring algorithm is available, the integrity monitoring of the first enhancement information and the second enhancement information is performed based on the target master monitoring algorithm to obtain the first monitoring result and the second monitoring result respectively. If the primary target monitoring algorithm is unavailable, the integrity of the first enhancement information and the second enhancement information is monitored based on the backup target monitoring algorithm, and the first monitoring result and the second monitoring result are obtained accordingly.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Based on the network port, the predictive monitoring information is received and used to indicate the integrity monitoring prediction result of the second enhancement information; When the predictive monitoring information indicates that the integrity monitoring has passed, the corresponding target monitoring algorithm is determined based on the target integrity monitoring index of the terminal.

6. The method according to claim 1, characterized in that, The integrity monitoring of the first enhanced information and the second enhanced information based on the target monitoring algorithm is performed respectively to obtain the first monitoring result and the second monitoring result, including: The first enhanced information and the second enhanced information are decrypted based on the key used to interact with the data center to obtain the decrypted first enhanced information and the decrypted second enhanced information. Based on the target monitoring algorithm, the integrity of the decrypted first enhanced information and the decrypted second enhanced information are monitored respectively, and the first monitoring result and the second monitoring result are obtained accordingly.

7. The method according to claim 1, characterized in that, The second enhancement information includes multiple types of third enhancement information, and these multiple types of third enhancement information have different priorities; the receiving of the second enhancement information based on the network interface between the data center and the terminal includes: The various types of third-enhanced information are received sequentially based on priority.

8. A satellite navigation integrity monitoring device, characterized in that, Applied to a terminal, the terminal comprising: The receiving module is used to receive first enhanced information based on the air interface between the satellite and the terminal, and to receive second enhanced information based on the network interface between the data center and the terminal. The algorithm matching module is used to determine the corresponding target monitoring algorithm based on the target integrity monitoring index of the terminal. Different integrity monitoring indicators have corresponding monitoring algorithms. The monitoring module is used to perform integrity monitoring on the first enhancement information and the second enhancement information respectively based on the target monitoring algorithm, and obtain the first monitoring result and the second monitoring result accordingly; The information acquisition module is used to determine the target enhancement information that has completed a consistency comparison between the first enhancement information and the second enhancement information when the first monitoring result indicates that the integrity monitoring has passed and the second monitoring result indicates that the integrity monitoring has passed.

9. 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 1-7.

10. 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 1-7.

11. 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 1-7.

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