Satellite common view weighting method, device, equipment, storage medium and program product

Abstract

This invention discloses a satellite co-view weighting method, apparatus, device, storage medium, and program product. The method includes: calculating a first weight based on the satellite elevation angles of the co-view master station and the co-view slave station to the same co-view satellite; calculating a second weight based on the satellite-to-ground geometric distance between the co-view master station and the co-view slave station to the co-view satellite; then performing joint normalization processing on the first and second weights to obtain the observation weights of the co-view satellite at the current co-view time; and determining the inter-station clock difference between the co-view master station and the co-view slave station based on the observation weights. This invention, by combining satellite elevation angle and satellite-to-ground geometric distance difference for weighting, can retain the advantages of satellite elevation angle-based weighting in suppressing satellite observation noise and multipath effect errors at low elevation angles, while also suppressing observation results with high dissimilarity and reducing co-view residual errors.

Description

Technical Field

[0001] This invention relates to the field of high-precision data processing technology for global satellite navigation, and in particular to a satellite common-view weighting method, apparatus, equipment, storage medium, and program product. Background Technology

[0002] Satellite common-view is currently the most cost-effective method for long-distance high-precision time comparison. Its basic principle is: when a satellite is within the line of sight of two ground stations, the ground stations simultaneously receive the downlink ranging signal transmitted by the satellite, calculate the clock difference and other data of the two ground stations respectively, exchange the clock difference data of the two stations and subtract them to obtain the relative clock difference of the two ground stations.

[0003] The high accuracy achieved by satellite common-view technology is primarily due to its ability to cancel or reduce shared errors through the principles of shared satellites and similar paths. Residual common-view errors are mainly caused by satellite measurement noise, multipath errors, and residual errors from common-view cancellation. While weighting based on satellite elevation angles can somewhat suppress satellite measurement noise and multipath effects at low elevation angles, this method does not improve path dissimilarity and therefore cannot reduce residual common-view errors caused by path dissimilarity. Summary of the Invention

[0004] To address the problems existing in the prior art, embodiments of the present invention provide a satellite common-view weighting method, apparatus, device, storage medium, and program product, which can retain the advantages of satellite elevation angle-based weighting in suppressing satellite observation noise and multipath effect errors under low elevation angle conditions, while also suppressing observation results with high dissimilarity and reducing common-view residual errors.

[0005] In a first aspect, embodiments of the present invention provide a satellite common-view weighting method, comprising: The first weight is calculated based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite; The second weight is calculated based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; The first weight and the second weight are jointly normalized to obtain the observation weight of the common-view satellite at the current common-view time. Based on the observation weights, the inter-station clock difference between the common-view master station and the common-view slave station is determined.

[0006] As an improvement to the above scheme, a second weight is calculated based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite, including: Based on the satellite-to-ground geometric distances of the common-view master station and the common-view slave station to the common-view satellite, calculate the difference in satellite-to-ground geometric distances observed by the common-view master station and the common-view slave station to the common-view satellite; Calculate the relative satellite-to-ground geometric distance difference based on the first position of the shared-view satellite, the second position of the shared-view master station, and the third position of the shared-view slave station at the current shared-view time. The second weight is calculated based on the difference in satellite-to-ground geometric distance and the difference in relative satellite-to-ground geometric distance.

[0007] As an improvement to the above scheme, the first weight and the second weight are jointly normalized to obtain the observation weights of the common-view satellite at the current common-view time, including: Calculate the common viewing weight of the common-view satellite based on the first weight and the second weight; The common viewing weights of all common viewing satellites at the current common viewing time are normalized to obtain the observation weights of each common viewing satellite at the current common viewing time.

[0008] As an improvement to the above scheme, a first weight is calculated based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite, including: The minimum common elevation angle is selected from the satellite elevation angle of the common viewing master station to the common viewing satellite and the satellite elevation angle of the common viewing slave station to the common viewing satellite. Based on the preset low elevation angle, the minimum common viewing elevation angle is suppressed to obtain the first weight value.

[0009] As an improvement to the above scheme, the inter-station clock difference between the common-view master station and the common-view slave station is determined based on the observation weights, including: Calculate the clock difference value based on the clock difference of the common-view master station and the clock difference of the common-view slave station; Based on the observation weights of each of the common-view satellites at the current common-view time, the clock difference is weighted and averaged to obtain the inter-station clock difference between the common-view slave station and the common-view master station.

[0010] As an improvement to the above solution, the method further includes: Obtain the first common view data of the common view master station and the second common view data of the common view slave station at the current common view time; The first common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the second position; the second common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the third position.

[0011] Secondly, embodiments of the present invention provide a satellite common-view weighting device, comprising: The first weighting calculation module is used to calculate the first weighting based on the satellite elevation angle of the common viewing master station and the common viewing slave station for the same common viewing satellite; The second weight calculation module is used to calculate the second weight based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; The observation weight calculation module is used to perform joint normalization processing on the first weight and the second weight to obtain the observation weight of the common-view satellite at the current common-view time. The inter-station clock difference determination module is used to determine the inter-station clock difference between the common-view master station and the common-view slave station based on the observation weights.

[0012] Thirdly, embodiments of the present invention provide a satellite co-viewing weighting device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the satellite co-viewing weighting method as described in any one of the first aspects.

[0013] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the satellite co-view weighting method as described in any one of the first aspects.

[0014] Fifthly, embodiments of the present invention provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the satellite co-view weighting method as described in any one of the first aspects.

[0015] Compared to existing technologies, the present invention provides a satellite co-view weighting method, apparatus, device, storage medium, and program product. Based on the satellite elevation angles of the co-view master station and the co-view slave station for the same co-view satellite, a first weight is calculated; based on the satellite-to-ground geometric distance of the co-view master station and the co-view slave station for the co-view satellite, a second weight is calculated; then, the first and second weights are jointly normalized to obtain the observation weights of the co-view satellite at the current co-view time; based on the observation weights, the inter-station clock difference between the co-view master station and the co-view slave station is determined; by combining satellite elevation angle and satellite-to-ground geometric distance differences for weighting, the advantages of using satellite elevation angle-based weighting to suppress satellite observation noise and multipath effect errors at low elevation angles are retained, while also suppressing observations with high dissimilarity, reducing co-view residual errors. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a satellite common-view weighting method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the framework for common-view weighting provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of a satellite common-view weighting device provided in an embodiment of the present invention; Figure 4 This is a structural block diagram of a satellite common-view weighting device provided in an embodiment of the present invention. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. 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.

[0019] It is understood that the various numerical designations used in the embodiments of this invention are merely for descriptive convenience and are not intended to limit the scope of this application. The order of the process numbers does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0020] In embodiments of the invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element. The term "a plurality or several" refers to two or more.

[0021] See Figure 1 , Figure 1 This is a flowchart of a satellite co-view weighting method provided by an embodiment of the present invention. The satellite co-view weighting method specifically includes: S11: Calculate the first weight based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite; S12: Calculate the second weight based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; S13: Perform joint normalization on the first weight and the second weight to obtain the observation weight of the common-view satellite at the current common-view time; S14: Determine the inter-station clock difference between the common-view master station and the common-view slave station based on the observation weights.

[0022] It should be noted that the satellite co-view weighting method described in the embodiments of the present invention can be executed by a co-view server or other devices.

[0023] Furthermore, the method also includes: acquiring the first common-view data of the common-view master station and the second common-view data of the common-view slave station at the current common-view time; The first common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the second position; the second common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the third position.

[0024] Based on the first shared-view data from the master shared-view station and the second shared-view data from the slave shared-view stations, shared-view weighting is performed, such as... Figure 2 As shown, the specific process is as follows: Calculate the first position of the common-view satellite at the current common-view time using the satellite almanac; For example, the common-view master station / common-view slave station can obtain the latest satellite almanac through its local receiver. Based on the satellite almanac obtained by the common-view master station / common-view slave station, the first position of the common-view satellite i at the current common-view time can be calculated. Alternatively, valid almanac data (such as satellite almanacs, satellite broadcast ephemeris, precise ephemeris, etc.) can be obtained from the satellite navigation data center via the network to calculate the first position of the common-view satellite i at the current common-view time. The calculation of satellite positions is an existing technology, which can be found in satellite navigation system interface control documents, and will not be described in detail here.

[0025] Weight calculations are performed based on the first and second common-view data obtained above, including: First, calculate the first weight based on the satellite elevation angles of the master station and slave station of the first and second common-view data relative to the same common-view satellite i; then calculate the second weight based on the satellite-to-ground geometric distances of the master station and slave station of the first and second common-view data relative to the same common-view satellite i.

[0026] The satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the same common-view satellite i is calculated based on the second position of the common-view master station, the third position of the common-view master station, and the first position of the common-view satellite i.

[0027] Then, the first weight calculated based on the satellite elevation angle and the second weight calculated based on the satellite-to-ground geometric distance are jointly normalized to obtain the observation weight of the common-view satellite at the current common-view time.

[0028] Combining the observation weights calculated above, and the clock differences of the common-view master station and the common-view slave station in the first and second common-view data obtained above, the inter-station clock difference is calculated to obtain the inter-station clock difference between the common-view master station and the common-view slave station.

[0029] The embodiments of the present invention use a combination of satellite elevation angle and satellite-to-ground geometric distance difference weighting to retain the advantages of satellite elevation angle weighting in suppressing satellite observation noise and multipath effect errors at low elevation angles, while also suppressing observation results with high dissimilarity and reducing common-view residual errors.

[0030] In one optional embodiment, a first weight is calculated based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite, including: The minimum common elevation angle is selected from the satellite elevation angle of the common viewing master station to the common viewing satellite and the satellite elevation angle of the common viewing slave station to the common viewing satellite. Based on the preset low elevation angle, the minimum common viewing elevation angle is suppressed to obtain the first weight value.

[0031] For example, suppose the satellite elevation angles of the common-view master station A and the common-view slave station B for the same common-view satellite i are respectively and Since the common-view results are often more affected by the station with poorer observation accuracy, this embodiment of the invention takes the minimum satellite elevation angle of the two stations as the satellite elevation angle of the common-view satellite i, and the specific calculation is as follows: (1); Where min() represents the function to find the minimum value, These represent the satellite elevation angles of the common-view master station A and the common-view slave station B relative to the same common-view satellite i. This represents the satellite elevation angle of the two stations relative to the shared satellite i.

[0032] Based on the preset low elevation angle, the satellite elevation angle Suppression is performed, and a first weight based on the satellite elevation angle is determined. The specific calculations are as follows: (2); in, This indicates the set low elevation angle, for example... , The specific value can be set according to the actual accuracy requirements, and the embodiments of the present invention do not impose specific limitations.

[0033] The first weight calculated based on the satellite elevation angle in this embodiment of the invention can suppress observation data such as satellite measurement noise and multipath effect errors at low elevation angles, effectively weakening the impact of atmospheric delay, multipath effect and other errors on the solution results under low elevation angle conditions, thereby improving the final time synchronization accuracy.

[0034] In one optional embodiment, a second weight is calculated based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite, including: Based on the satellite-to-ground geometric distances of the common-view master station and the common-view slave station to the common-view satellite, calculate the difference in satellite-to-ground geometric distances observed by the common-view master station and the common-view slave station to the common-view satellite; Calculate the relative satellite-to-ground geometric distance difference based on the first position of the shared-view satellite, the second position of the shared-view master station, and the third position of the shared-view slave station at the current shared-view time. The second weight is calculated based on the difference in satellite-to-ground geometric distance and the difference in relative satellite-to-ground geometric distance.

[0035] For example, let the geo-ground geometric distances of the common-view master station A and the common-view slave station B to the same common-view satellite i be respectively... and Then the difference in the satellite-to-ground geometric distance between the two stations observing the common-view satellite i is: (3); Among them, the satellite-to-ground geometric distance of the common viewing master station A And the geometric distance between the satellite and the ground from station B. The first position of common-view satellite i in the geocentric-ground-fixed coordinate system at the common-view time. and the location of the two stations , The calculation is as follows: (4); (5); Calculate the baseline lengths of the common-view master station A and the common-view slave station B. : (6); The relative difference in geometric distance between the satellite and the ground (i.e., the relative path difference) is: (7); Obtain the second weight based on the difference in satellite-to-ground geometric distance. for: (8); Here, exp() represents an exponential function with the natural constant e as its base.

[0036] This invention calculates a second weight based on the difference in geometric paths between satellite and ground. Based on the relative path differences of common-view observations, the greater the relative path differences, the lower the second weight. This can suppress observations with high dissimilarity, reduce common-view residual errors, and further improve time synchronization accuracy.

[0037] In one optional embodiment, the first weight and the second weight are jointly normalized to obtain the observation weights of the common-view satellite at the current common-view time, including: Calculate the common viewing weight of the common-view satellite based on the first weight and the second weight; The common viewing weights of all common viewing satellites at the current common viewing time are normalized to obtain the observation weights of each common viewing satellite at the current common viewing time.

[0038] For example, the first weight determined based on the satellite elevation angle and the second weight determined based on the satellite geometric path difference Perform joint processing (such as product operation) to obtain the common viewing weight of common viewing satellite i at the current common viewing time. for: (9); When calculating inter-station clock bias using multi-satellite common-view data, the sum of the common-view weights of all common-view satellites at the same common-view time should be 1. Therefore, this embodiment of the invention normalizes the common-view weights of all common-view satellites at the same common-view time. Assuming there are k common-view satellites at the current common-view time, the normalized common-view weights yield the observation weights of each common-view satellite. for: (10); The embodiments of the present invention normalize the common viewing weights at the same common viewing time, which can ensure that the contribution of each satellite observation to the final inter-station clock difference calculation result is balanced and controllable, and avoid the distortion of the calculation result due to inconsistent weight magnitudes or uneven distribution, thereby improving the stability and consistency of clock difference calculation and enhancing the accuracy and reliability of multi-satellite common viewing time synchronization.

[0039] In one optional embodiment, determining the inter-station clock difference between the common-view master station and the common-view slave station based on the observation weights includes: Calculate the clock difference value based on the clock difference of the common-view master station and the clock difference of the common-view slave station; Based on the observation weights of each of the common-view satellites at the current common-view time, the clock difference is weighted and averaged to obtain the inter-station clock difference between the common-view slave station and the common-view master station.

[0040] For example, using normalized observation weights The clock bias between stations is weighted and averaged. Let the clock bias of the common-view master station A be obtained based on the formula for satellite i. The clock difference at station B is Suppose there are k common-view satellites, then the inter-station clock difference between common-view slave station B and common-view master station A is... for: = (11); This invention, through a weighting method combining satellite elevation angle and satellite-to-ground geometric distance difference, retains the advantages of using satellite elevation angle-based weighting to suppress low-elevation-angle satellite observation noise and multipath effect errors. At the same time, it adds weighting based on satellite-to-ground geometric distance difference to suppress observation results with high dissimilarity, thereby better suppressing common-view errors, reducing common-view residual errors, and significantly improving the accuracy and reliability of inter-station clock difference calculation under multi-satellite common-view conditions.

[0041] See Figure 3 , Figure 3 This is a structural block diagram of a satellite common-view weighting device provided in an embodiment of the present invention. The common-view satellite common-view weighting device includes: The first weight calculation module 11 is used to calculate the first weight based on the satellite elevation angle of the common viewing master station and the common viewing slave station for the same common viewing satellite; The second weight calculation module 12 is used to calculate the second weight based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; The observation weight calculation module 13 is used to perform joint normalization processing on the first weight and the second weight to obtain the observation weight of the common-view satellite at the current common-view time; The inter-station clock difference determination module 14 is used to determine the inter-station clock difference between the common-view master station and the common-view slave station based on the observation weights.

[0042] In one optional embodiment, the second weight calculation module 12 includes: The first calculation unit is used to calculate the difference in satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite. The second calculation unit is used to calculate the relative satellite-to-ground geometric distance difference based on the first position of the shared-view satellite, the second position of the shared-view master station, and the third position of the shared-view slave station at the current shared-view time. The third calculation unit is used to calculate the second weight based on the difference between the satellite and the ground geometric distance and the difference between the relative satellite and the ground geometric distance.

[0043] In one optional embodiment, the observation weight calculation module 13 includes: The fourth calculation unit is used to calculate the common viewing weight of the common viewing satellite based on the first weight and the second weight; The normalization unit is used to normalize the common viewing weights of all common viewing satellites at the current common viewing time, so as to obtain the observation weights of each of the common viewing satellites at the current common viewing time.

[0044] In one optional embodiment, the first weight calculation module 11 includes: The elevation angle selection unit is used to select the minimum value from the satellite elevation angle of the common-view master station to the common-view satellite and the satellite elevation angle of the common-view slave station to the common-view satellite, as the minimum common-view elevation angle; An elevation angle suppression unit is used to suppress the minimum common elevation angle according to a preset low elevation angle to obtain the first weight value.

[0045] In an optional embodiment, the inter-station clock difference determination module 14 includes: The fifth calculation unit is used to calculate the clock difference value based on the clock difference of the common-view master station and the clock difference of the common-view slave station; The weighted average unit is used to perform weighted average processing on the clock difference value according to the observation weight value of each of the common-view satellites at the current common-view time, so as to obtain the inter-station clock difference between the common-view slave station and the common-view master station.

[0046] In an optional embodiment, the device further includes: The common-view data acquisition module is used to acquire the first common-view data of the common-view master station and the second common-view data of the common-view slave station at the current common-view time. The first common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the second position; the second common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the third position.

[0047] It should be noted that the working process of each module in the satellite co-view weighting device described in the embodiments of the present invention can refer to the working process of the satellite co-view weighting method described in the above embodiments, and the technical effect achieved is the same as that of the satellite co-view weighting method described in the above embodiments, which will not be repeated here.

[0048] See Figure 4 , Figure 4This is a structural block diagram of a satellite co-viewing weighting device provided in an embodiment of the present invention. The co-viewing satellite weighting device includes a processor 21, a memory 22, and a computer program stored in the memory 22 and executable on the processor 21. When the processor 21 executes the computer program, it implements the steps in the various satellite co-viewing weighting method embodiments described above, such as steps S11 to S14.

[0049] For example, the computer program may be divided into one or more modules or units, which are stored in the memory 22 and executed by the processor 21 to complete the present invention. The one or more modules or units may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the co-view satellite co-viewing authority device.

[0050] The shared-view satellite weighting device may include, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will understand that the schematic diagram is merely an example of a shared-view satellite weighting device and does not constitute a limitation on the device. It may include more or fewer components than illustrated, or combine certain components, or use different components. For example, the shared-view satellite weighting device may also include input / output devices, network access devices, buses, etc.

[0051] The processor 21 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 21 is the control center of the common-view satellite common-view authority equipment, connecting all parts of the equipment via various interfaces and lines.

[0052] The memory 22 can be used to store the computer programs and / or modules. The processor 21 implements various functions of the common-view satellite common-view authority device by running or executing the computer programs and / or modules stored in the memory 22 and calling the data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0053] If the modules or units integrated into the shared-view satellite shared-view authority equipment are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 21, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0054] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0055] The above description represents the preferred embodiments of the present invention. It should be noted that, for those skilled in the art, various improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A satellite common-view weighting method, characterized in that, include: The first weight is calculated based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite; The second weight is calculated based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; The first weight and the second weight are jointly normalized to obtain the observation weight of the common-view satellite at the current common-view time. Based on the observation weights, the inter-station clock difference between the common-view master station and the common-view slave station is determined.

2. The satellite common-view weighting method as described in claim 1, characterized in that, The second weight is calculated based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite, including: Based on the satellite-to-ground geometric distances of the common-view master station and the common-view slave station to the common-view satellite, calculate the difference in satellite-to-ground geometric distances observed by the common-view master station and the common-view slave station to the common-view satellite; Calculate the relative satellite-to-ground geometric distance difference based on the first position of the shared-view satellite, the second position of the shared-view master station, and the third position of the shared-view slave station at the current shared-view time. The second weight is calculated based on the difference in satellite-to-ground geometric distance and the difference in relative satellite-to-ground geometric distance.

3. The satellite common-view weighting method as described in claim 1, characterized in that, The first weight and the second weight are jointly normalized to obtain the observation weights of the common-view satellite at the current common-view time, including: Calculate the common viewing weight of the common-view satellite based on the first weight and the second weight; The common viewing weights of all common viewing satellites at the current common viewing time are normalized to obtain the observation weights of each common viewing satellite at the current common viewing time.

4. The satellite common-view weighting method as described in claim 1, characterized in that, The first weight is calculated based on the satellite elevation angles of the common-view master station and the common-view slave station for the same common-view satellite, including: The minimum common elevation angle is selected from the satellite elevation angle of the common viewing master station to the common viewing satellite and the satellite elevation angle of the common viewing slave station to the common viewing satellite. Based on the preset low elevation angle, the minimum common viewing elevation angle is suppressed to obtain the first weight value.

5. The satellite common-view weighting method as described in claim 1, characterized in that, Based on the observation weights, the inter-station clock difference between the common-view master station and the common-view slave station is determined, including: Calculate the clock difference value based on the clock difference of the common-view master station and the clock difference of the common-view slave station; Based on the observation weights of each of the common-view satellites at the current common-view time, the clock difference is weighted and averaged to obtain the inter-station clock difference between the common-view slave station and the common-view master station.

6. The satellite common-view weighting method as described in claim 1, characterized in that, The method further includes: Obtain the first common view data of the common view master station and the second common view data of the common view slave station at the current common view time; The first common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the second position; the second common-view data includes: the system identifier and satellite number of the common-view satellite, the clock bias of the common-view master station, the satellite elevation angle, and the third position.

7. A satellite common-view weighting device, characterized in that, include: The first weighting calculation module is used to calculate the first weighting based on the satellite elevation angle of the common viewing master station and the common viewing slave station for the same common viewing satellite; The second weight calculation module is used to calculate the second weight based on the satellite-to-ground geometric distance between the common-view master station and the common-view slave station and the common-view satellite; The observation weight calculation module is used to perform joint normalization processing on the first weight and the second weight to obtain the observation weight of the common-view satellite at the current common-view time. The inter-station clock difference determination module is used to determine the inter-station clock difference between the common-view master station and the common-view slave station based on the observation weights.

8. A satellite co-view weighting device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the satellite co-view weighting method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the satellite co-view weighting method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, they implement the satellite co-view weighting method according to any one of claims 1 to 6.

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