Ionized layer suppression method, server, terminal and storage medium

Abstract

The invention discloses an ionosphere suppression method, a server, a terminal and a storage medium, and the method comprises the steps: carrying out the networking of a triangulation network through employing three reference stations around the terminal as vertexes, obtaining a target triangulation network, and enabling the terminal to be located in the target triangulation network; performing triangulation network networking by taking three reference stations around each vertex in the three vertexes of the target triangulation network as the vertexes, and determining a double-difference ionized layer interpolation value corresponding to each vertex through a triangulation interpolation method; based on the double-difference ionized layer interpolation value corresponding to each vertex, determining an ionized layer residual value corresponding to each vertex; based on the ionosphere residual value corresponding to each vertex, determining the ionosphere residual value corresponding to the terminal; and sending the ionosphere residual value corresponding to the terminal to the terminal, so that the terminal performs ionosphere suppression based on the ionosphere residual value.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an ionosphere suppression method, a server, a terminal, and a storage medium. Background Technology

[0002] In related technologies, traditional real-time dynamic carrier phase differential (RTK) technology does not assess ionospheric activity levels, relying entirely on the terminal's own algorithms for strategy optimization, resulting in poor accuracy for the terminal. Some related technologies estimate atmospheric modeling accuracy on the server side, using the model accuracy to determine atmospheric activity levels and generating an accuracy factor for the terminal. The terminal then uses different combinations of observations to mitigate the ionospheric influence. However, the accuracy factor calculated by this method represents the model's internal consistency accuracy, which is prone to misjudgment. Furthermore, the terminal must adapt to different combinations of observations, increasing the computational complexity. Summary of the Invention

[0003] In view of this, embodiments of this application provide an ionosphere suppression method, a server, a terminal, and a storage medium.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] On one hand, embodiments of the present invention provide an ionosphere suppression method applied to a server, the method comprising:

[0006] A target triangular network is obtained by using three reference stations around the terminal as vertices to form a triangular network, so that the terminal is located within the target triangular network;

[0007] The three reference stations surrounding each of the three vertices of the target triangulation network are used as vertices to form a triangulation network. The double-difference ionospheric interpolation value corresponding to each vertex is determined by the triangulation interpolation method.

[0008] Based on the double-difference ionospheric interpolation value corresponding to each vertex, determine the ionospheric residual value corresponding to each vertex;

[0009] Based on the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined;

[0010] The ionospheric residual value corresponding to the terminal is sent to the terminal so that the terminal can perform ionospheric suppression based on the ionospheric residual value.

[0011] In the above scheme, determining the ionospheric residual value corresponding to each vertex based on the double-difference ionospheric interpolation value corresponding to each vertex includes:

[0012] Based on the base station information, the double-difference atmospheric information of all baselines is calculated;

[0013] Based on the double-difference atmospheric information of each baseline, determine the double-difference atmospheric information corresponding to each vertex;

[0014] Based on the double-difference atmospheric information and double-difference ionospheric interpolation corresponding to each vertex, the ionospheric residual value corresponding to each vertex is determined.

[0015] In the above scheme, determining the ionospheric residual value corresponding to the terminal based on the ionospheric residual value corresponding to each vertex includes:

[0016] Determine the network structure factor of the triangular network containing the terminal and each vertex respectively;

[0017] Based on the network structure factor and the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined.

[0018] In the above scheme, sending the ionospheric residual value corresponding to the terminal to the terminal includes:

[0019] The ionospheric residual value corresponding to the terminal is encoded to generate an ionospheric residual message;

[0020] The ionospheric residual message is sent to the terminal.

[0021] On the other hand, embodiments of the present invention provide an ionosphere suppression method applied to a terminal, the method comprising:

[0022] The server receives the ionospheric residual value corresponding to the terminal. The ionospheric residual value is obtained by the server forming a target triangulation network with three reference stations around the terminal as vertices, so that the terminal is located within the target triangulation network. Then, the server forms a triangulation network with three reference stations around each of the three vertices of the target triangulation network as vertices. The server determines the double-difference ionospheric interpolation value corresponding to each vertex using triangulation interpolation. Based on the double-difference ionospheric interpolation value corresponding to each vertex, the server determines the ionospheric residual value corresponding to each vertex.

[0023] Ionosphere suppression is performed based on the ionosphere residual value.

[0024] In the above scheme, the ionospheric residual value corresponding to the terminal includes the ionospheric residual values ​​of each satellite observed by the terminal, and the ionospheric suppression based on the ionospheric residual value includes:

[0025] The ionospheric residual values ​​of each satellite observed by the terminal are sorted from smallest to largest;

[0026] Determine the target ionospheric residual value corresponding to the percentile of the lowest differential satellite utilization rate in the sorting results;

[0027] Star removal is performed based on the target ionospheric residual value.

[0028] In the above scheme, the star removal based on the target ionospheric residual value includes:

[0029] If the target ionospheric residual value is less than the threshold, then all satellites with ionospheric residual values ​​exceeding the threshold are removed.

[0030] If the target ionospheric residual value is greater than or greater than the threshold, then the elevation angle corresponding to the set minimum differential satellite utilization rate is determined within the target ionospheric residual value. The target ionospheric residual value is the primary constraint, and the elevation angle is the secondary constraint for satellite removal.

[0031] This application also provides a server, including: a processor and a memory for storing a computer program that can run on the processor, wherein the processor, when running the computer program, executes the steps in the ionosphere suppression method applied to the server described above.

[0032] This application also provides a terminal, including: a processor and a memory for storing a computer program that can run on the processor, wherein the processor, when running the computer program, performs the steps in the ionosphere suppression method applied to the terminal described above.

[0033] This application embodiment also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps in the above-described ionosphere suppression method.

[0034] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described ionosphere suppression method.

[0035] In this embodiment, the server uses three reference stations surrounding the terminal as vertices to form a target triangulation network, ensuring the terminal is located within it. Then, it uses three reference stations surrounding each vertex of the target triangulation network as vertices to form another triangulation network. Triangulation interpolation is used to determine the double-difference ionospheric interpolation value for each vertex. Based on this interpolation value, the ionospheric residual value for each vertex is determined, and then the ionospheric residual value for the terminal is determined. This residual value is then sent to the terminal, enabling it to perform ionospheric suppression. This embodiment performs interpolation modeling of the ionospheric residuals of the reference stations surrounding the terminal. Based on the double-difference interpolation values ​​at the interpolation points, the ionospheric residual value at the terminal is determined. The terminal then performs ionospheric suppression based on this residual value, which weakens the impact of ionospheric activity on terminal positioning, effectively improving terminal fixation rate and enhancing positioning performance during periods of ionospheric activity. Attached Figure Description

[0036] Figure 1 A schematic flowchart of an ionosphere suppression method provided in an embodiment of this application;

[0037] Figure 2 A schematic diagram of a triangular mesh provided for an embodiment of this application;

[0038] Figure 3 A schematic diagram of a star-shaped mesh structure provided in an embodiment of this application;

[0039] Figure 4 A schematic flowchart of another ionosphere suppression method provided in this application embodiment;

[0040] Figure 5 This is a flowchart illustrating the calculation of an ionospheric residual product provided in an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of the hardware composition structure of a server provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the hardware structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Network-based Real-Time Kinematics (RTK) is a real-time positioning technology that uses data from multiple reference stations to calculate and correct errors, providing users with spatial location services. Its basic idea is that within a certain area, various systematic errors, such as ionospheric delay, tropospheric delay, and orbital errors, are strongly correlated. Therefore, based on the known errors of multiple reference stations, the unknown errors of any rover within that area can be calculated or eliminated, thus obtaining high-precision real-time positioning results. Due to its high accuracy and efficiency, RTK has become the mainstream technology for Global Navigation Satellite System (GNSS) positioning worldwide.

[0045] Virtual Reference Station (VRS) technology is a representative network RTK technology. It generates a virtual reference station using user-reported location information and combines it with satellite observations from the real base station to model spatial distance-related errors such as ionospheric delay and tropospheric delay. The corrected observations are then broadcast to the user. VRS technology extends the operating distance between the user and the real base station, providing wide coverage and effectively improving user positioning accuracy.

[0046] Currently, ionospheric suppression technology is mainly implemented on the terminal side. Generally, algorithms are used to reduce the impact of ionospheric activity. The terminal detects changes in ionospheric activity or directly receives activity factors sent by the server, judges the degree of ionospheric activity, and switches the observation combination mode. The impact of ionospheric activity is reduced by switching between non-combined and ionospheric combination modes.

[0047] The current 25th week of solar activity is approaching its peak, and the more frequent the solar activity, the more intense the ionospheric activity. Traditional ionospheric modeling methods are insufficient to accurately eliminate the influence of ionospheric errors. When terminals use VRS data for positioning, they cannot obtain accurate positioning results. Furthermore, relying on terminals to determine ionospheric activity levels to switch strategies is prone to misjudgment and increases the complexity of terminal calculations. Therefore, there is an urgent need to provide reliable, high-precision services in active ionospheric environments.

[0048] To address the shortcomings of the aforementioned related technologies, this invention provides an ionospheric suppression method that can suppress the influence of ionospheric errors during periods of ionospheric activity and improve the positioning effect during these periods. Specific embodiments are described below to illustrate the technical solution of this invention.

[0049] Figure 1 This is a schematic diagram illustrating the implementation process of an ionosphere suppression method provided in an embodiment of the present invention. This method is applied to the server side. (Refer to...) Figure 1 Ionosphere suppression methods include:

[0050] S101, using the three reference stations around the terminal as vertices to form a triangular network to obtain a target triangular network, so that the terminal is located within the target triangular network.

[0051] An RTK system includes a base station and a rover. Both the base station and the rover are equipped with satellite receivers to observe and receive satellite data. The base station is a base station with known coordinates, used to provide a reference point. In network RTK technology, multiple base stations are typically set up within a designated area. The rover is a station that can move around; it is the actual target location to be positioned. Both the base station and the rover are considered measurement points that can receive satellite data, and the line connecting two measurement points is called a baseline. Two base stations and one rover can form a triangulation network, creating three intersecting baselines arranged in a closed loop.

[0052] First, the server collects information on national base stations, including coordinates, antenna type, station name, and observation data for each base station within the same frame. It then uses the Delaunay triangulation algorithm to create a triangulation network and outputs the relevant baselines and triangulation information. Delaunay triangulation algorithms include edge-flipping, point-by-point insertion, segmentation and merging, and the Bowyer-Watson algorithm.

[0053] After triangulation, the generated baselines and triangulation network information can be obtained. Both the base station and the rover (terminal) are considered as measurement points that can receive satellite data, and the line connecting two measurement points is called the baseline. Each baseline has its own double-difference tropospheric delay and double-difference ionospheric delay. The double-difference tropospheric delay and double-difference ionospheric delay are the result of atmospheric refraction and other factors when the satellite transmits satellite data to the base station or rover.

[0054] By listing the observation equations and using Kalman filtering with fixed base station coordinates, the double-difference atmospheric information for all baselines can be calculated. The specific double-difference equations are as follows:

[0055]

[0056] In the formula: It is a double difference operator; P is the carrier phase observation; P is the pseudorange observation; λ is the carrier wavelength. These are the double-difference carrier phase observations between the rover and the base station; For the corresponding double-difference integer ambiguity parameters; These represent residual orbital, ionospheric, and tropospheric errors that remain even after double-difference calculations between the rover and the base station. These errors are related to the distance between the rover and the base station.i This is the sum of errors such as phase multipath error and measurement noise; ∑ε i It is the sum of pseudorange multipath error, measurement noise, and other errors.

[0057] Using the above observation equations and Kalman filtering, the double-difference troposphere and double-difference ionosphere information for each baseline can be calculated.

[0058] Using the three reference stations surrounding the terminal as vertices, a triangulation network is constructed to obtain the target triangulation network, which is the interpolated triangle corresponding to the terminal. Figure 2 As shown, Figure 2 The three vertices of the middle triangulation ABC are all reference stations, and the interpolation point is D (representing the terminal). The triangulation ABC is the target triangulation where the terminal is located.

[0059] Using base station A as the master monitoring station (the target base station closest to the center of the target area is taken as the master station), and I as reference station B or C, assuming double-difference ionospheric delay... It is the difference in planar coordinates (ΔX) AI +ΔY AI If a function is a linear function of , then the following equation can be formed:

[0060]

[0061] In the formula, ΔX AI =X A -X I ;ΔY AI =Y A -Y I For reference stations B and C, then:

[0062]

[0063] The solution is:

[0064]

[0065] Finally, substituting a1 and a2 into the interpolation function at interpolation point D, we get:

[0066]

[0067] The server-side differential program models the ionospheric residuals of base stations around the terminal and calculates the ionospheric residuals of reference stations around the interpolation point.

[0068] S102, using the three reference stations surrounding each of the three vertices of the target triangular network as vertices to form a triangular network, and determining the double-difference ionospheric interpolation value corresponding to each vertex by the triangular interpolation method.

[0069] like Figure 2 As shown, after obtaining the target triangulation ABC where the terminal is located, the three reference stations surrounding each of the three vertices A, B, and C of the target triangulation are used as vertices to form a triangulation network. The double-difference ionospheric interpolation values ​​corresponding to A, B, and C are determined by triangulation interpolation. (It should be understood that...) Figure 2 Using the terminal as the interpolation point, this is... Figure 2 The three vertices A, B, and C of the triangle are used as interpolation points.

[0070] like Figure 3 As shown, Figure 3 Point F in the diagram corresponds to one of the three vertices of the target triangulation. Figure 3 and Figure 2 The same letters in the diagram have no corresponding relationships. First, obtain the star network structure ABCDE of the base station F, where AE represents the 5 base stations surrounding F. After removing point F, use the Delaunay algorithm to perform triangulation on points ABCDE, generating triangles ABC, ACD, and ADE. Select the interpolated triangle ACD, which must include the interpolated base station F.

[0071] Using triangle ACD as the interpolation triangle, the nearest main station A is selected, and the Linear Interpolation Model (LIM) plane interpolation is performed on point F to generate the interpolated double-difference ionosphere of AF, thereby obtaining the interpolated double-difference ionosphere value of AF. The AC baseline double-interpolation atmospheric value is calculated from the AB+BC baseline, and the AD baseline double-interpolation atmospheric value is calculated from the AE+ED baseline.

[0072] The double-difference ionospheric interpolation value of AF is used as the double-difference ionospheric interpolation value corresponding to F.

[0073] Based on the above principles, respectively Figure 2 Substitute the three vertices in Figure 3 Point F in the equation can be used to calculate the double-difference ionospheric interpolation value corresponding to each vertex.

[0074] S103, based on the double-difference ionospheric interpolation value corresponding to each vertex, determine the ionospheric residual value corresponding to each vertex.

[0075] For example, such as Figure 3 As shown, by subtracting the double-difference ionospheric interpolation value from the baseline solution value (AF), the ionospheric residual value observed by the base station F can be obtained, where F is a vertex of the target triangulation. Based on this principle, the ionospheric residual value corresponding to each vertex of the target triangulation can be calculated.

[0076] S104, Based on the ionospheric residual value corresponding to each vertex, determine the ionospheric residual value corresponding to the terminal.

[0077] For example, the ionospheric residual values ​​at the three vertices can be averaged or weighted, and the calculation result can be used as the ionospheric residual value corresponding to the terminal.

[0078] S105, the ionospheric residual value corresponding to the terminal is sent to the terminal so that the terminal can perform ionospheric suppression based on the ionospheric residual value.

[0079] The server encodes the message based on the ionospheric residual value and broadcasts it to the terminal. When positioning, the terminal performs ionospheric suppression based on the ionospheric residual value. For example, the terminal can perform satellite rejection based on the ionospheric residual value, removing satellites whose ionospheric residual values ​​do not meet the conditions, thus helping users improve fixation rate and positioning accuracy during periods of ionospheric activity.

[0080] This embodiment can be implemented after the server generates differential observation data. After acquiring data from all national base stations, the server outputs all baselines and triangulation information according to the network setup program. It then uses a network solver to perform real-time filtering with fixed base station coordinates to calculate the baselines, outputting double-difference atmospheric information for each baseline. Finally, it outputs the differential observation data for the terminal location through an atmospheric interpolation program. The server sends the differential observation data to the terminal, which then uses this data for positioning.

[0081] Ionospheric residual values ​​can be used in conjunction with differential observation data. When the terminal locates itself based on differential observation data, ionospheric suppression can be performed based on the ionospheric residual values.

[0082] In this embodiment, the server uses three reference stations surrounding the terminal as vertices to form a target triangulation network, ensuring the terminal is located within it. Then, it uses three reference stations surrounding each vertex of the target triangulation network as vertices to form another triangulation network. Triangulation interpolation is used to determine the double-difference ionospheric interpolation value for each vertex. Based on this interpolation value, the ionospheric residual value for each vertex is determined, and then the ionospheric residual value for the terminal is determined. This residual value is then sent to the terminal, enabling it to perform ionospheric suppression. This embodiment performs interpolation modeling of the ionospheric residuals of the reference stations surrounding the terminal. Based on the double-difference interpolation values ​​at the interpolation points, the ionospheric residual value at the terminal is determined. The terminal then performs ionospheric suppression based on this residual value, which weakens the impact of ionospheric activity on terminal positioning, effectively improving terminal fixation rate and enhancing positioning performance during periods of ionospheric activity.

[0083] In one embodiment, determining the ionospheric residual value corresponding to each vertex based on the double-difference ionospheric interpolation value corresponding to each vertex includes:

[0084] Based on the base station information, the double-difference atmospheric information of all baselines is calculated;

[0085] Based on the double-difference atmospheric information of each baseline, determine the double-difference atmospheric information corresponding to each vertex;

[0086] Based on the double-difference atmospheric information and double-difference ionospheric interpolation corresponding to each vertex, the ionospheric residual value corresponding to each vertex is determined.

[0087] The interpolation algorithm can be the LIM plane interpolation algorithm, and the double-difference atmospheric information refers to the double-difference ionospheric information calculated from the baseline.

[0088] For example, such as Figure 3 As shown, by subtracting the double-difference ionospheric interpolation of AF from the double-difference atmospheric information (ionospheric error value), the ionospheric residual value observed by the reference station F (corresponding to a vertex) can be obtained.

[0089] In one embodiment, determining the ionospheric residual value corresponding to the terminal based on the ionospheric residual value corresponding to each vertex includes:

[0090] Determine the network structure factor of the triangular network containing the terminal and each vertex respectively;

[0091] Based on the network structure factor and the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined.

[0092] Here, the triangular network where the terminal is located is the target triangular network in S101. The triangular network where each vertex is located refers to the triangular network obtained by using the three reference stations around each vertex of the target triangular network as vertices to form a triangular network.

[0093] Each triangular mesh can be considered as a service unit. The service performance of a service unit is related to its mesh structure. Each triangular mesh corresponds to a mesh structure factor, which is related to the service area of ​​the triangular mesh. The calculation of the mesh structure factor can be referred to the following embodiment.

[0094] For example, the interpolation coefficient matrix can be obtained using the LIM interpolation algorithm:

[0095] α=R 2,2 Atm (Equation 6)

[0096] In the formula A is the main reference station, R 2,2 = (B T B) -1 B T , make The atmospheric double-difference corrections for rover D (terminal) and primary reference station A are:

[0097]

[0098] Given that the prior variance matrix of the atmospheric double-difference correction for the reference station network is:

[0099]

[0100] in For the unit weight error in the atmospheric baseline of the network settlement, according to the error propagation law, we know that... The prior variance is:

[0101]

[0102] According to the above formula, The contour lines are about (ΔX) D,A ,ΔY D,A A quadratic function in two variables, through D α Diagonalization can be transformed into the equation of the standard ellipse of the prior variance distribution:

[0103]

[0104] In the formula, {λ1, λ2; λ1≤λ2} is D α The non-zero eigenvalues ​​are used to obtain the area of ​​the ellipse, i.e., the variance is less than 1. Service area:

[0105]

[0106] It can be seen that determining the prior variance Afterwards, S i Only with matrix D Atm It is related to B, while D Atm For optimal measurement accuracy, B includes the network topology information of the service unit. Therefore, while considering the service area and service differences of each primary reference station within the service unit, a priori variance of less than 1 mm is proposed. 2 The sum of the service areas of all main reference stations multiplied by the ratio of the minimum to the maximum value is used as a factor to evaluate the network structure.

[0107]

[0108] In the formula, S = {S1, S2, S3}, where S1, S2, and S3 represent the service areas of different primary reference stations (e.g., ...). Figure 3In triangle ACD, the service area of ​​the primary reference station varies depending on the chosen primary reference station (A, C, or D); sum, min, and max are the summation function, minimum value function, and maximum value function, respectively; the first term represents that the variance within the service unit is less than 1 mm. 2 The effective service area, and the second term represents the difference in service capabilities of different primary reference stations within the service unit. This network structure factor takes into account the real-time solution quality D of the service unit. Atm Therefore, this factor is time-sensitive, and when atmospheric spatial changes are stable, it is only related to the network type. This network structure factor can comprehensively reflect the spatial distribution of the reference station and atmospheric calculation error information. Specifically, the better the station network type, the larger the network structure factor; the smaller the atmospheric error, the larger the network structure factor.

[0109] The final interpolation equation is defined as follows:

[0110]

[0111] In the formula, i represents the satellite, A, B, and C are the names of the base stations, and D represents the terminal. Let d represent the magnitudes of the ionospheric residuals of satellite i at points D, A, B, and C, respectively. D ,d A ,d B ,d C These are the network structure factors of the triangular network where points D, A, B, and C are located, respectively.

[0112] Among them, you can refer to Figure 2 D is the location of the terminal. According to Equation 12 above, the network structure factor of the triangular network where points D, A, B and C are located can be calculated respectively. Then, combined with the ionospheric residual values ​​corresponding to A, B and C, the ionospheric residual value corresponding to the terminal can be calculated according to Equation 13.

[0113] In one embodiment, sending the ionospheric residual value corresponding to the terminal to the terminal includes:

[0114] The ionospheric residual value corresponding to the terminal is encoded to generate an ionospheric residual message;

[0115] The ionospheric residual message is sent to the terminal.

[0116] For example, based on the range of ionospheric residual values, the corresponding ionospheric residual indicator is determined, as shown in Table 1 below. The unit for ionospheric residual values ​​is cm.

[0117] IonResidualvalue(cm) IonResidualindicator 0 0 (0,1] 1 (1,2] 2 (2,3] 3 (3,4] 4 (4,5] 5 (5,6] 6 (6,7] 7 (7,8] 8 (8,9] 9 (9,10] 10 (10,15] 11 >15 14 unknown 15

[0118] Table 1

[0119] Based on the above ionospheric residual indicator values, the following encoding design is adopted to broadcast the ionospheric residual information to users in the form of differential signal format (Radio Technical Commission for Maritime Services, RTCM) messages.

[0120]

[0121] Table 2

[0122] Table 3 provides a description of some of the message fields in Table 2.

[0123]

[0124] Table 3

[0125] This application's embodiments can be developed into an ionospheric residual identification product, serving as a value-added service for differential products in high-precision positioning platforms. This helps compensate for the low service accuracy of traditional network RTK in active ionospheric regions. Under the influence of continuously intensifying ionospheric disturbances, the inability to fix the active period becomes a challenge for terminal positioning. This product can feed back ionospheric errors to the user terminal, assisting it in achieving high-precision positioning. Based on the characteristics of this product, an ionospheric residual encoding method can be designed to complement the use of differential data products.

[0126] This application defines an ionospheric residual product message that can be used in conjunction with differential data products and can form an industry standard, which will help promote the service.

[0127] Figure 4 This is a schematic diagram illustrating the implementation process of an ionosphere suppression method provided in an embodiment of the present invention. This method is applied to a terminal. (Refer to...) Figure 4 Ionosphere suppression methods include:

[0128] S401, Receive the ionospheric residual value corresponding to the terminal sent by the server; The ionospheric residual value is obtained by the server forming a target triangulation network with three reference stations around the terminal as vertices, so that the terminal is located in the target triangulation network, and then forming a triangulation network with three reference stations around each of the three vertices of the target triangulation network as vertices respectively, and determining the double-difference ionospheric interpolation value corresponding to each vertex through triangulation interpolation, and determining the ionospheric residual value corresponding to each vertex based on the double-difference ionospheric interpolation value corresponding to each vertex, and thus obtaining the ionospheric residual value.

[0129] S402, Ionosphere suppression is performed based on the ionosphere residual value.

[0130] Ionospheric residual values ​​can be used in conjunction with differential observation data. During positioning, the terminal can perform ionospheric suppression based on these residual values, such as removing satellites with residual values ​​below a threshold. The terminal can dynamically adjust its solution strategy based on the ionospheric residual level, downweighting or removing satellites during periods of ionospheric activity to suppress the impact of ionospheric errors and improve positioning performance during these periods. This embodiment helps to mitigate the impact of ionospheric activity on terminal positioning and effectively improves terminal fixation rate.

[0131] In one embodiment, the ionospheric residual value corresponding to the terminal includes the ionospheric residual values ​​of each satellite observed by the terminal, and the ionospheric suppression based on the ionospheric residual value includes:

[0132] The ionospheric residual values ​​of each satellite observed by the terminal are sorted from smallest to largest;

[0133] Determine the target ionospheric residual value corresponding to the percentile of the lowest differential satellite utilization rate in the sorting results;

[0134] Star removal is performed based on the target ionospheric residual value.

[0135] For example, if the message sent by the server includes ionospheric residual values ​​of 40 satellites, then the ionospheric residual values ​​of the 40 satellites are sorted from smallest to largest according to their magnitude. The target ionospheric residual value corresponding to the percentile of the set minimum differential satellite utilization rate is determined. For example, if the set minimum differential satellite utilization rate is 0.7, then the ionospheric residual value at the 70th percentile of the sorted results is determined as the target ionospheric residual value.

[0136] In one embodiment, the star-removal based on the target ionospheric residual value includes:

[0137] If the target ionospheric residual value is less than the threshold, then all satellites with ionospheric residual values ​​exceeding the threshold are removed.

[0138] If the target ionospheric residual value is greater than or greater than the threshold, then the elevation angle corresponding to the set minimum differential satellite utilization rate is determined within the target ionospheric residual value. The target ionospheric residual value is the primary constraint, and the elevation angle is the secondary constraint for satellite removal.

[0139] The threshold can be a value within 10 (inclusive).

[0140] In addition, the effective time of the ionospheric residual value relative to the differential correction can be set to within 10 seconds.

[0141] In this embodiment, users only need a simple star-removal operation to improve the positioning effect. The operation is simple and the results are more reliable.

[0142] like Figure 5 As shown, Figure 5 This is a flowchart illustrating the calculation of an ionospheric residual product provided in an embodiment of the present invention. First, based on base station data, base station coordinates, antenna information, etc., a triangulation network is constructed using the Delaunay algorithm. The network solution program calculates the baseline atmosphere for each baseline, performs atmospheric modeling, and obtains the target point difference and ionospheric residual product. Specific steps include:

[0143] Step 1: The server collects information from national base stations and uses the Delaunay algorithm to build a triangular network.

[0144] Taking the point-by-point insertion algorithm as an example, the algorithm includes the following steps:

[0145] 1. First, define an initial polygon containing all data points, i.e., a convex closure containing all data points;

[0146] 2. Construct the initial Delaunay triangulation within the convex closure;

[0147] 3. Take one point from the internal data points and add it to the triangular network;

[0148] 4. Search for a triangle containing the given point, and connect the point to the three vertices of this triangle to form three triangles;

[0149] 5. Using the Delaunay triangulation criteria, identify the affected region and update all generated triangles from the inside out;

[0150] 6. Repeat steps 3, 4, and 5 until all points in the point set have been processed.

[0151] Step 2: The server-side network calculation program fixes the coordinates of the reference station and performs Kalman filtering according to the baseline as the unit to calculate the double-difference atmospheric information of each baseline.

[0152] Step 3: After receiving the double-difference atmospheric information, the server-side differential program uses the triangular interpolation algorithm to calculate the atmospheric data at the target point, generates differential data, and sends it to the terminal.

[0153] Step 4: The server-side differential program models the ionospheric residuals of base stations around the target point, calculates the ionospheric residuals of reference stations around the interpolation point, generates interpolation coefficients based on the network structure, and finally generates the ionospheric residual product of the target point.

[0154] This application, based on the standard network RTK positioning algorithm, further calculates the ionospheric residual value of each satellite observed by the base station by utilizing the star-shaped network structure and its network structure factor. The network structure factor is then incorporated into the network RTK positioning algorithm to further improve positioning accuracy. In addition to the standard network RTK server product, this application adds an ionospheric residual product to reflect the accuracy of ionospheric modeling along different satellite propagation paths. This product, provided to the terminal, can improve the terminal's fixation rate.

[0155] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0156] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0157] It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.

[0158] In addition, in the embodiments of the present invention, "first," "second," etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0159] An embodiment of the present invention provides an ionosphere suppression device, the device comprising:

[0160] The triangulation module is used to form a target triangulation network by using three reference stations around the terminal as vertices, so that the terminal is located within the target triangulation network.

[0161] The triangulation module is used to form a triangulation network by taking the three reference stations around each of the three vertices of the target triangulation network as vertices, and to determine the double-difference ionospheric interpolation value corresponding to each vertex by the triangulation interpolation method.

[0162] The first determining module is used to determine the ionospheric residual value corresponding to each vertex based on the double-difference ionospheric interpolation value corresponding to each vertex.

[0163] The second determining module is used to determine the ionospheric residual value corresponding to the terminal based on the ionospheric residual value corresponding to each vertex.

[0164] The sending module is used to send the ionospheric residual value corresponding to the terminal to the terminal, so that the terminal can perform ionospheric suppression based on the ionospheric residual value.

[0165] In one embodiment, the first determining module is specifically used for:

[0166] Based on the base station information, the double-difference atmospheric information of all baselines is calculated;

[0167] Based on the double-difference atmospheric information of each baseline, determine the double-difference atmospheric information corresponding to each vertex;

[0168] Based on the double-difference atmospheric information and double-difference ionospheric interpolation corresponding to each vertex, the ionospheric residual value corresponding to each vertex is determined.

[0169] In one embodiment, the second determining module is specifically used for:

[0170] Determine the network structure factor of the triangular network containing the terminal and each vertex respectively;

[0171] Based on the network structure factor and the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined.

[0172] In one embodiment, the sending module block is specifically used for:

[0173] The ionospheric residual value corresponding to the terminal is encoded to generate an ionospheric residual message;

[0174] The ionospheric residual message is sent to the terminal.

[0175] Another ionosphere suppression device provided in this embodiment of the invention includes:

[0176] The receiving module is used to receive the ionospheric residual value corresponding to the terminal sent by the server. The ionospheric residual value is obtained by the server forming a target triangulation network with three reference stations around the terminal as vertices, so that the terminal is located within the target triangulation network. Then, a triangulation network is formed with three reference stations around each of the three vertices of the target triangulation network as vertices. The double-difference ionospheric interpolation value corresponding to each vertex is determined by the triangulation interpolation method. Based on the double-difference ionospheric interpolation value corresponding to each vertex, the ionospheric residual value corresponding to each vertex is determined.

[0177] An ionosphere suppression module is used to suppress ionosphere based on the ionosphere residual value.

[0178] In one embodiment, the ionosphere suppression module is specifically used for:

[0179] The ionospheric residual values ​​of each satellite observed by the terminal are sorted from smallest to largest;

[0180] Determine the target ionospheric residual value corresponding to the percentile of the lowest differential satellite utilization rate in the sorting results;

[0181] Star removal is performed based on the target ionospheric residual value.

[0182] In one embodiment, the ionosphere suppression module is specifically used for:

[0183] If the target ionospheric residual value is less than the threshold, then all satellites with ionospheric residual values ​​exceeding the threshold are removed.

[0184] If the target ionospheric residual value is greater than or greater than the threshold, then the elevation angle corresponding to the set minimum differential satellite utilization rate is determined within the target ionospheric residual value. The target ionospheric residual value is the primary constraint, and the elevation angle is the secondary constraint for satellite removal.

[0185] In practical applications, the triangular networking module, triangular interpolation module, first determining module, second determining module, and sending module can be implemented by processors in the server, such as central processing units (CPUs), digital signal processors (DSPs), microcontroller units (MCUs), or field-programmable gate arrays (FPGAs).

[0186] It should be noted that the ionospheric suppression device provided in the above embodiments is only illustrated by the division of the modules described above when performing ionospheric suppression. In practical applications, the above processing can be assigned to different modules as needed, that is, the internal structure of the device can be divided into different modules to complete all or part of the processing described above. In addition, the ionospheric suppression device and the ionospheric suppression method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0187] The aforementioned ionosphere suppression device can be in the form of an image file. After execution, this image file can run as a container or virtual machine to implement the ionosphere suppression method described in this application. However, it is not limited to the image file format; any software implementation capable of achieving the ionosphere suppression method described in this application is within the scope of protection of this application.

[0188] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a server and a terminal, wherein the above ionosphere suppression method is implemented by the processors of the server and the terminal.

[0189] Figure 6 This is a schematic diagram of the hardware structure of the server in an embodiment of this application, as shown below. Figure 6 As shown, the server includes:

[0190] The communication interface 601 enables information exchange with other devices, such as network devices.

[0191] The processor 602 is connected to the communication interface 601 to enable information interaction with other devices and, when running a computer program, executes the methods provided by one or more of the aforementioned server-side technical solutions. The computer program is stored in the memory 603.

[0192] Figure 7 This is a schematic diagram of the hardware structure of the terminal in an embodiment of this application, as shown below. Figure 7 As shown, the terminal includes:

[0193] The communication interface 701 enables information exchange with other devices, such as network devices.

[0194] The processor 702 is connected to the communication interface 701 to enable information interaction with other devices and, when running a computer program, executes the methods provided by one or more of the aforementioned terminal-side technical solutions. The computer program is stored in the memory 703.

[0195] Of course, in practical applications, the various components in the server or terminal are coupled together through a bus system. It can be understood that the bus system is used to implement communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 6 and Figure 7 The general will label all buses as bus systems.

[0196] The memory in this application embodiment is used to store various types of data to support the operation of the server or terminal. Examples of such data include any computer program used to operate on the server or terminal.

[0197] In this application, the server or terminal can be a single hardware device or a cluster of multiple hardware devices, such as a cloud computing platform. A cloud computing platform is a cluster device that organizes multiple independent server or terminal physical hardware resources into a pool of resources, and provides the necessary virtual resources and services to the outside world.

[0198] The memory in this application embodiment is used to store various types of data to support the operation of the server or terminal. Examples of such data include any computer program used to operate on the server or terminal.

[0199] It is understood that memory can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0200] The methods disclosed in the embodiments of this application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory. The processor reads the program from the memory and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0201] In an exemplary embodiment, this application also provides a computer program product, including a computer program that can be executed by a server-side processor to perform the steps of the server-side ionosphere suppression method described in this application embodiment.

[0202] In an exemplary embodiment, this application also provides another computer program product, including a computer program that can be executed by a terminal's processor to perform the steps described in the terminal ionosphere suppression method of this application embodiment.

[0203] Optionally, when the processor executes the program, it implements the corresponding processes implemented by the server or terminal in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0204] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a first memory storing a computer program, which can be executed by a processor of a server or terminal to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0205] In the several embodiments provided in this application, it should be understood that the disclosed apparatus, server, terminal, and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0206] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0207] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0208] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0209] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0210] It should be noted that the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0211] In addition, in this application example, "first," "second," etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0212] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An ionosphere suppression method, applied to a server, characterized in that, The method includes: A target triangular network is obtained by using three reference stations around the terminal as vertices to form a triangular network, so that the terminal is located within the target triangular network; The three reference stations surrounding each of the three vertices of the target triangulation network are used as vertices to form a triangulation network. The double-difference ionospheric interpolation value corresponding to each vertex is determined by the triangulation interpolation method. Based on the double-difference ionospheric interpolation value corresponding to each vertex, determine the ionospheric residual value corresponding to each vertex; Based on the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined; The ionospheric residual value corresponding to the terminal is sent to the terminal so that the terminal can perform ionospheric suppression based on the ionospheric residual value.

2. The method according to claim 1, characterized in that, The step of determining the ionospheric residual value corresponding to each vertex based on the double-difference ionospheric interpolation value corresponding to each vertex includes: Based on the base station information, the double-difference atmospheric information of all baselines is calculated; Based on the double-difference atmospheric information of each baseline, determine the double-difference atmospheric information corresponding to each vertex; Based on the double-difference atmospheric information and double-difference ionospheric interpolation corresponding to each vertex, the ionospheric residual value corresponding to each vertex is determined.

3. The method according to claim 1, characterized in that, Determining the ionospheric residual value corresponding to the terminal based on the ionospheric residual value corresponding to each vertex includes: Determine the network structure factor of the triangular network containing the terminal and each vertex respectively; Based on the network structure factor and the ionospheric residual value corresponding to each vertex, the ionospheric residual value corresponding to the terminal is determined.

4. The method according to claim 1, characterized in that, Sending the ionospheric residual value corresponding to the terminal to the terminal includes: The ionospheric residual value corresponding to the terminal is encoded to generate an ionospheric residual message; The ionospheric residual message is sent to the terminal.

5. An ionosphere suppression method, applied to a terminal, characterized in that, The method includes: The server receives the ionospheric residual value corresponding to the terminal. The ionospheric residual value is obtained by the server forming a target triangulation network with three reference stations around the terminal as vertices, so that the terminal is located within the target triangulation network. Then, the server forms a triangulation network with three reference stations around each of the three vertices of the target triangulation network as vertices. The server determines the double-difference ionospheric interpolation value corresponding to each vertex using triangulation interpolation. Based on the double-difference ionospheric interpolation value corresponding to each vertex, the server determines the ionospheric residual value corresponding to each vertex. Ionosphere suppression is performed based on the ionosphere residual value.

6. The method according to claim 5, characterized in that, The ionospheric residual value corresponding to the terminal includes the ionospheric residual values ​​of each satellite observed by the terminal. The ionospheric suppression based on the ionospheric residual value includes: The ionospheric residual values ​​of each satellite observed by the terminal are sorted from smallest to largest; Determine the target ionospheric residual value corresponding to the percentile of the lowest differential satellite utilization rate in the sorting results; Star removal is performed based on the target ionospheric residual value.

7. The method according to claim 6, characterized in that, The process of star removal based on the target ionospheric residual value includes: If the target ionospheric residual value is less than the threshold, then all satellites with ionospheric residual values ​​exceeding the threshold are removed. If the target ionospheric residual value is greater than or greater than the threshold, then the elevation angle corresponding to the set minimum differential satellite utilization rate is determined within the target ionospheric residual value. The target ionospheric residual value is the primary constraint, and the elevation angle is the secondary constraint for satellite removal.

8. A server-side component, characterized in that, include: A processor and memory for storing computer programs that can run on the processor, wherein, The processor, when running a computer program, executes the steps of the ionosphere suppression method according to any one of claims 1 to 4.

9. A terminal, characterized in that, include: A processor and memory for storing computer programs that can run on the processor, wherein, The processor, when running a computer program, executes the steps of the ionosphere suppression method according to any one of claims 5 to 7.

10. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the ionosphere suppression method according to any one of claims 1 to 4 or the steps of the ionosphere suppression method according to any one of claims 5 to 7.

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