A multi-physical field joint calibration method and system for time delay measurement deviation

Abstract

The application discloses a multi-physical field joint calibration method and system for time delay measurement deviation, belongs to the GNSS-R height measurement technical field, and comprises the following steps: selecting a spaceborne GNSS-R interferometric height measurement dual-frequency time delay deviation correction as a verification scene, relying on a spaceborne GNSS-R time delay measurement deviation multi-physical field joint calibration method, completely carrying out validity verification of a time delay calibration whole process, simultaneously utilizing the measurement deviations of two independent physical fields of ionospheric VTEC and sea surface height, constructing an observation equation for time delay deviation estimation, and solving the calibration problem of angle-dependent time delay deviation in a double-base observation mode. Moreover, an iterative correction strategy is adopted to gradually suppress residual systematic errors, and high-precision estimation of time delay deviation model parameters is realized.

Description

Technical Field

[0001] This application belongs to the field of GNSS-R altimetry technology, specifically relating to a multi-physics joint calibration method for time delay measurement error, a multi-physics joint calibration system for time delay measurement error, an electronic device, and a readable storage medium. Background Technology

[0002] Since the 1970s, spaceborne radar altimeters have become a core means of obtaining sea surface elevation and monitoring ocean circulation. However, the traditional single-track observation mode at the nadir point is limited by spatiotemporal resolution, with a cross-track spatial resolution of hundreds of kilometers, making it difficult to simultaneously capture two-dimensional information of ocean dynamic processes such as mesoscale eddies.

[0003] In recent years, BeiDou / GNSS-R interferometric altimetry, as a novel bistatic radar altimetry technology, has emerged. By simultaneously receiving direct and sea-reflected signals from navigation satellites, it utilizes full-bandwidth signal interferometry to measure the propagation time delay difference between reflected and direct signals, achieving high-precision elevation inversion. Its passive receiving mechanism helps reduce satellite development costs, while leveraging the wide coverage of GNSS satellite signals to achieve broad-area observation capabilities for two-dimensional sea surface height information, providing an innovative path to overcome the limitations of traditional altimetry technologies.

[0004] However, in GNSS-R interferometric altimetry, time delay measurements are affected by multiple coupled error sources, and even after conventional correction, residual time delay correction biases are unavoidable. Unlike the observation mode of traditional nadir altimeters, GNSS-R employs a bistatic observation system, and its time delay correction biases at different observation angles exhibit a non-uniform distribution, showing a significant bistatic observation angle dependence. Under these circumstances, calibration methods relying on traditional single-surface-height physical field observations can no longer meet the technical requirements for high-precision time delay bias correction in GNSS-R. Summary of the Invention

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a multi-physics joint calibration method for time delay measurement bias, the method comprising: Acquire first observation data from the comparative satellite, and acquire second observation data from remote sensing technology, and determine multiple observation intersections based on the first and second observation data; The following steps are iterated until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: Sea surface height deviation and ionospheric VTEC deviation are determined based on any unprocessed target observation intersection among multiple observation intersections, the first observation data, and the second observation data. Whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration index respectively; if not, determine the sea surface height deviation model parameter value based on the sea surface height deviation, and determine the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation. Based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, the correction model for the current time delay measurement deviation of the remote sensing technology is determined and the time delay deviation is corrected to obtain the corrected target time delay measurement value and the final time delay deviation correction model. Based on the target time delay measurement, candidate observation data of the remote sensing technology are determined, and the candidate observation data is used as the current second observation data.

[0006] In one or more embodiments, the step of acquiring first observation data from a comparative satellite, acquiring second observation data from remote sensing technology, and determining multiple observation intersections based on the first and second observation data includes: The first sea surface height, the first ionospheric VTEC, and the first observational information were obtained from the comparative satellite. Obtain second sea surface height, second ionospheric VTEC, and second observation information from remote sensing technology; The spatiotemporal overlap points of the first sea surface height and the second sea surface height, the spatiotemporal overlap points of the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points of the first observation information and the second observation information are taken as observation intersection points.

[0007] In one or more embodiments, determining the sea surface height deviation and ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data, and the second observation data includes: For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; The difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data is calculated to obtain the ionospheric VTEC bias.

[0008] In one or more embodiments, determining the sea surface height deviation model parameter value based on the sea surface height deviation, and determining the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation, includes: The sea surface height deviation model parameter values ​​are calculated using the sea surface height deviation and the observation angle in the second observation data; The ionospheric VTEC deviation model parameter values ​​are calculated using the ionospheric VTEC deviation and the observation angle.

[0009] In one or more embodiments, the step of determining the correction model for the current time delay measurement deviation of the remote sensing technology based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, and performing time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model includes: The first time delay correction model parameters corresponding to the high-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the high-frequency carrier frequency of the remote sensing technology. The second time delay correction model parameters corresponding to the low-frequency signal are calculated using the sea surface height model parameter values, the ionospheric VTEC deviation model parameter values, and the low-frequency carrier frequency of the remote sensing technology. The high-frequency time delay deviation correction amount is calculated using the parameters of the first time delay correction model and the observation angle in the second observation data; The low-frequency time delay deviation correction amount is calculated using the parameters of the second time delay correction model and the observation angle; The high-frequency delay measurement value in the current delay measurement value is corrected using the high-frequency delay deviation correction amount to obtain the corrected high-frequency delay measurement value; The low-frequency delay measurement value in the current delay measurement value is corrected using the low-frequency delay deviation correction amount to obtain the corrected low-frequency delay measurement value; The final delay deviation correction model for the first delay is obtained by summing the parameters of the first delay correction model with the historical parameters of the first delay correction model obtained during the iteration process. The final time delay deviation correction model for the second time delay is obtained by summing the parameters of the second time delay correction model with the historical parameters of the second time delay correction model obtained during the iteration process.

[0010] In one or more embodiments, it further includes: At the end of the iteration, obtain the corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value as the final delay measurement value after calibration; The final time delay deviation correction model of the first time delay and the final time delay deviation correction model of the second time delay obtained at the end of the iteration are used as the final calibration model of the time delay measurement deviation of remote sensing technology.

[0011] In one or more embodiments, it further includes: Acquire the observation data to be corrected using the remote sensing technology; The time delay to be corrected in the observation data to be corrected is input into the final time delay measurement deviation correction model to obtain the corrected time delay.

[0012] In one or more embodiments, the comparison satellite altimeter satellite, and the remote sensing technology is GNSS-R altimeter technology.

[0013] Secondly, embodiments of this application provide a multi-physics joint calibration apparatus for time delay measurement bias, the apparatus comprising: The acquisition module is used to acquire first observation data from the comparison satellite, and second observation data from remote sensing technology, and to determine multiple observation intersections based on the first observation data and the second observation data; Repeatedly call the following module until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: The detection module is used to detect whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration indicators respectively. If not, the first processing module is invoked. The first processing module is used to determine the sea surface height deviation and the ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data and the second observation data; The second processing module is used to determine the sea surface height deviation model parameter value based on the sea surface height deviation, and to determine the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation. The correction module is used to determine the correction model of the current time delay measurement deviation of the remote sensing technology based on the sea surface height deviation model parameter value and the ionospheric VTEC deviation model parameter value, and to perform time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model. The third processing module is used to determine candidate observation data of the remote sensing technology based on the target time delay measurement value, and to use the candidate observation data as the current second observation data.

[0014] In one or more embodiments, the acquisition module is specifically used for: The first sea surface height, the first ionospheric VTEC, and the first observational information were obtained from the comparative satellite. Obtain second sea surface height, second ionospheric VTEC, and second observation information from remote sensing technology; The spatiotemporal overlap points of the first sea surface height and the second sea surface height, the spatiotemporal overlap points of the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points of the first observation information and the second observation information are taken as observation intersection points.

[0015] In one or more embodiments, the first processing module is specifically used for: For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; The difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data is calculated to obtain the ionospheric VTEC bias.

[0016] In one or more embodiments, the second processing module is specifically used for: The sea surface height deviation model parameter values ​​are calculated using the sea surface height deviation and the observation angle in the second observation data; The ionospheric VTEC deviation model parameter values ​​are calculated using the ionospheric VTEC deviation and the observation angle.

[0017] In one or more embodiments, the correction module is specifically used for: The first time delay correction model parameters corresponding to the high-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the high-frequency carrier frequency of the remote sensing technology. The second time delay correction model parameters corresponding to the low-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the low-frequency carrier frequency of the remote sensing technology. The high-frequency time delay deviation correction amount is calculated using the parameters of the first time delay correction model and the observation angle in the second observation data; The low-frequency time delay deviation correction amount is calculated using the parameters of the second time delay correction model and the observation angle; The high-frequency delay measurement value in the current delay measurement value is corrected using the high-frequency delay deviation correction amount to obtain the corrected high-frequency delay measurement value; The low-frequency delay measurement value in the current delay measurement value is corrected using the low-frequency delay deviation correction amount to obtain the corrected low-frequency delay measurement value; The final delay deviation correction model for the first delay is obtained by summing the parameters of the first delay correction model with the historical parameters of the first delay correction model obtained during the iteration process. The final time delay deviation correction model for the second time delay is obtained by summing the parameters of the second time delay correction model with the historical parameters of the second time delay correction model obtained during the iteration process.

[0018] In one or more embodiments, a determining module is further included, specifically for: At the end of the iteration, obtain the corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value as the final delay measurement value after calibration; The final time delay deviation correction model of the first time delay and the final time delay deviation correction model of the second time delay obtained at the end of the iteration are used as the final calibration model of the time delay measurement deviation of remote sensing technology.

[0019] In one or more embodiments, it further includes: The acquisition module is also used to acquire the observation data to be corrected by the remote sensing technology; The input module is used to input the time delay to be corrected from the observation data to be corrected into the final time delay measurement deviation correction model to obtain the corrected time delay.

[0020] In one or more embodiments, the comparison satellite is an altimeter satellite, and the remote sensing technology is GNSS-R altimeter technology.

[0021] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0022] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0023] In this embodiment, first observation data from a comparative satellite is acquired, and second observation data from remote sensing technology is acquired. Multiple observation intersections are determined based on the first and second observation data. The following steps are iterated repeatedly until the redefined sea surface height deviation and ionospheric VTEC deviation satisfy the calibration criteria, thereby obtaining the calibration results of the time delay measurement deviation model parameters. Sea surface height deviation and ionospheric VTEC deviation are determined based on any unprocessed target observation intersection among the multiple observation intersections, the first observation data, and the second observation data. If the calibration criteria are not met, the sea surface height deviation model parameter values ​​are determined based on the sea surface height deviation, and the ionospheric VTEC deviation model parameter values ​​are determined based on the ionospheric VTEC deviation. Based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, a correction model for the current time delay measurement deviation of the remote sensing technology is determined, and time delay deviation correction is performed to obtain the corrected target time delay measurement value and the final time delay deviation correction model. Based on the target time delay measurement value, candidate observation data for the remote sensing technology is determined, and the candidate observation data is used as the current second observation data. In this way, by simultaneously utilizing the measurement deviations of two independent physical fields, ionospheric VTEC and sea surface height, an observation equation for time delay deviation estimation is constructed, solving the calibration problem of angle-dependent time delay deviation under the dual-base observation mode. Furthermore, an iterative correction strategy is adopted to gradually suppress residual systematic errors, achieving high-precision estimation of the time delay deviation model parameters. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating the steps of an embodiment of a multi-physics joint calibration method for time delay measurement deviation according to the present invention. Figure 2 This is a schematic diagram of the sea surface height error assessment results after GNSS-R time delay calibration of the present invention; Figure 3 This is a schematic diagram of the ionospheric VTEC error evaluation results after GNSS-R time delay calibration of the present invention; Figure 4 This is a structural block diagram of an embodiment of a multi-physics field joint calibration device for time delay measurement deviation according to the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0027] The embodiments of this application will be described in detail below with reference to the accompanying drawings and specific examples and application scenarios.

[0028] Reference Figure 1 The flowchart illustrates an embodiment of a multi-physics joint calibration method for time delay measurement deviation according to the present invention, which may specifically include the following steps: Step 101: Obtain first observation data from the comparison satellite and second observation data from remote sensing technology, and determine multiple observation intersections based on the first and second observation data.

[0029] Specifically, the comparison satellite can be a Jason 3 altimeter satellite, and the remote sensing technology can be GNSS-R (Global Navigation Satellite System-Reflectometry) altimetry technology. Of course, in addition to the above-mentioned satellites and remote sensing technologies, other satellites and remote sensing technologies can also be used. In practical applications, the settings can be configured according to actual needs, and this application embodiment does not impose any restrictions on this.

[0030] Furthermore, the observational data may include sea level height, ionospheric VTEC (Vertical Total Electron Content), and observational data. The observational data may include observation trajectory parameters and observation time information.

[0031] Based on this, the acquired observation data from the comparison satellite (referred to as "first observation data" for easy distinction) may include the sea surface height observed by the satellite altimeter (referred to as "first sea surface height"), the VTEC of the ionosphere (referred to as "first ionospheric VTEC"), and the observation information from the comparison satellite (referred to as "first observation information"). The acquired observation data from remote sensing technology (referred to as "second observation data") may include the pre-input sea surface height (referred to as "second sea surface height"), the VTEC of the ionosphere (referred to as "second ionospheric VTEC"), and the observation information from remote sensing technology (referred to as "second observation information").

[0032] The first observation data and the second observation data are matched and spatiotemporal overlap points are extracted. Specifically, the spatiotemporal overlap points extracted by matching the first sea surface height and the second sea surface height, the spatiotemporal overlap points extracted by matching the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points extracted by matching the first observation information and the second observation information are all used as observation intersection points.

[0033] The following steps are iterated until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: Step 102: Determine the sea surface height deviation and ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data, and the second observation data.

[0034] Specifically, after identifying multiple observation intersection points, the measurement deviation of the observation values ​​corresponding to each of the multiple observation intersection points can be used as a basis.

[0035] For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; and calculate the difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data to obtain the ionospheric VTEC deviation.

[0036] Step 103: Whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration indicators respectively; if not, proceed to step 104. Step 104: Determine the sea surface height deviation model parameter values ​​based on the sea surface height deviation, and determine the ionospheric VTEC deviation model parameter values ​​based on the ionospheric VTEC deviation.

[0037] Specifically, after calculating the latest sea surface height deviation and ionospheric VTEC deviation, it can be checked whether the sea surface height deviation and ionospheric VTEC deviation meet the corresponding calibration indicators, such as sea surface height deviation ≤ 1 cm and ionospheric VTEC deviation ≤ 0.2 TECU. If they meet the corresponding calibration indicators, the calibration result of the time delay measurement deviation correction model is obtained. At this point, the final time delay deviation correction model is converged, and its specific form is as follows:

[0038]

[0039] in, i =1,2,…, n Indicates the number of iterations. , The first i The slope and intercept parameters of the high-frequency delay correction model corresponding to the next iteration; and The first i The slope and intercept parameters of the low-frequency delay correction model corresponding to the next iteration. Figure 2 and Figure 3 The final GNSS-R sea surface height and ionospheric VTEC error assessment results are shown, with the sea surface height deviation being -0.009 cm and the ionospheric VTEC deviation being 0.121 TECU.

[0040] If at least one of the preset indicators is not met, then the sea surface height deviation model parameter value can be calculated using the sea surface height deviation and the observation angle in the second observation data. Additionally, the ionospheric VTEC deviation model parameter value can be calculated using the ionospheric VTEC deviation and the observation angle, specifically using the following formula:

[0041]

[0042] in, For sea level height deviation, , These are the model parameters for the sea surface height deviation as a function of the cosine of the incident angle. Indicates VTEC deviation in the ionosphere. , These are the parameters of the functional model of the ionospheric VTEC deviation as a function of the cosine of the incident angle. It is twice the cosine of the observed incident angle, that is, , It is the angle between the GNSS incident signal and the normal to the reflecting surface.

[0043] Step 105: Based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, determine the correction model for the current time delay measurement deviation of the remote sensing technology and perform time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model.

[0044] After obtaining the parameters of the sea surface height deviation model and the ionospheric VTEC deviation model, the first time delay correction model parameters corresponding to the high-frequency signal can be calculated using these parameters and the high-frequency carrier frequency from remote sensing. Similarly, the second time delay correction model parameters corresponding to the low-frequency signal can be calculated using these parameters and the low-frequency carrier frequency from remote sensing. The specific formula is as follows:

[0045]

[0046]

[0047]

[0048] in, , GNSS-R high frequency The slope and intercept parameters of the time delay correction model corresponding to the signal. , Low frequency The slope and intercept parameters of the time delay correction model corresponding to the signal. and These are the high-frequency and low-frequency carrier frequencies for GNSS-R dual-frequency observation, respectively. 40.28 is a constant value, which can be adjusted according to actual needs in practical applications.

[0049] In obtaining , , and Then, the high-frequency time delay deviation correction can be calculated using the parameters of the first time delay correction model and the observation angle in the second observation data. The low-frequency time delay deviation correction can be calculated using the parameters of the second time delay correction model and the observation angle. The high-frequency time delay deviation correction is then used to correct the high-frequency time delay measurement value in the current time delay measurement value to obtain the corrected high-frequency time delay measurement value. Finally, the low-frequency time delay deviation correction is used to correct the low-frequency time delay measurement value in the current time delay measurement value to obtain the corrected low-frequency time delay measurement value. Specifically, the following formula can be used:

[0050]

[0051]

[0052]

[0053] in, GNSS-R high frequency low frequency The time delay measurement value, These are the high-frequency and low-frequency time delay deviation correction amounts calculated using the above model, respectively. , These are the high-frequency and low-frequency time delay measurements after deviation correction.

[0054] Then, the parameters of the first time delay correction model are used and summed with the historical parameters of the first time delay correction model obtained during the iteration process to obtain the final time delay deviation correction model of the first time delay. The parameters of the second time delay correction model are used and summed with the historical parameters of the second time delay correction model obtained during the iteration process to obtain the final time delay deviation correction model of the second time delay.

[0055] Step 106: Based on the target time delay measurement value, determine the candidate observation data of the remote sensing technology, and use the candidate observation data as the current second observation data.

[0056] After obtaining the target time delay measurement values ​​(i.e., the corrected high-frequency time delay measurement values ​​and the corrected low-frequency time delay measurement values), the sea surface height and ionospheric VTEC values ​​can be calculated by inversion using the target time delay measurement values ​​(both of which belong to "candidate observation data"). The old observation data is replaced by the candidate observation data as the current second observation data and the process jumps to step 102, thereby completing the iterative update of the observed physical quantities and providing basic data for subsequent sequential calibration.

[0057] Furthermore, embodiments of this application also include: The corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value obtained at the end of the iteration are used as the final delay measurement value after calibration. The final delay deviation correction model of the first delay and the final delay deviation correction model of the second delay obtained at the end of the iteration are used as the final calibration model of the delay measurement deviation of remote sensing technology.

[0058] Furthermore, embodiments of this application also include: Acquire observational data to be corrected using remote sensing technology; The time delay to be corrected in the observation data to be corrected is input into the final time delay measurement deviation correction model to obtain the corrected time delay.

[0059] Specifically, after the time delay measurement deviation correction model is trained, when the latest observation data to be corrected is acquired by GNSS-R, the trained time delay measurement deviation correction model can be used to correct the time delay in the data, thereby obtaining the corrected time delay.

[0060] In this embodiment, first observation data from a comparative satellite is acquired, and second observation data from remote sensing technology is acquired. Multiple observation intersections are determined based on the first and second observation data. The following steps are iterated repeatedly until the redefined sea surface height deviation and ionospheric VTEC deviation satisfy the calibration criteria, thereby obtaining the calibration results of the time delay measurement deviation model parameters. Sea surface height deviation and ionospheric VTEC deviation are determined based on any unprocessed target observation intersection among the multiple observation intersections, the first observation data, and the second observation data. If the calibration criteria are not met, the sea surface height deviation model parameter values ​​are determined based on the sea surface height deviation, and the ionospheric VTEC deviation model parameter values ​​are determined based on the ionospheric VTEC deviation. Based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, a correction model for the current time delay measurement deviation of the remote sensing technology is determined, and time delay deviation correction is performed to obtain the corrected target time delay measurement value and the final time delay deviation correction model. Based on the target time delay measurement value, candidate observation data for the remote sensing technology is determined, and the candidate observation data is used as the current second observation data. In this way, by simultaneously utilizing the measurement deviations of two independent physical fields, ionospheric VTEC and sea surface height, an observation equation for time delay deviation estimation is constructed, solving the calibration problem of angle-dependent time delay deviation under the dual-base observation mode. Furthermore, an iterative correction strategy is adopted to gradually suppress residual systematic errors, achieving high-precision estimation of the time delay deviation model parameters.

[0061] Reference Figure 4 The diagram illustrates a structural block diagram of an embodiment of a multi-physics joint calibration system for time delay measurement deviation according to the present invention, which may specifically include the following modules: The acquisition module 601 is used to acquire first observation data from the comparison satellite, and to acquire second observation data from remote sensing technology, and to determine multiple observation intersections based on the first observation data and the second observation data; Repeatedly call the following module until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: The detection module 602 is used to detect whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration indicators respectively. If not, the first processing module is invoked. The first processing module 603 is used to determine the sea surface height deviation and the ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data and the second observation data; The second processing module 604 is used to determine the sea surface height deviation model parameter value based on the sea surface height deviation, and to determine the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation. The correction module 605 is used to determine the correction model of the current time delay measurement deviation of the remote sensing technology based on the sea surface height deviation model parameter value and the ionospheric VTEC deviation model parameter value, and to perform time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model. The third processing module 606 is used to determine candidate observation data of the remote sensing technology based on the target time delay measurement value, and to use the candidate observation data as the current second observation data.

[0062] In this embodiment of the application, the acquisition module is specifically used for: The first sea surface height, the first ionospheric VTEC, and the first observational information were obtained from the comparative satellite. Obtain second sea surface height, second ionospheric VTEC, and second observation information from remote sensing technology; The spatiotemporal overlap points of the first sea surface height and the second sea surface height, the spatiotemporal overlap points of the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points of the first observation information and the second observation information are taken as observation intersection points.

[0063] In this embodiment of the application, the first processing module is specifically used for: For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; The difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data is calculated to obtain the ionospheric VTEC bias.

[0064] In this embodiment of the application, the second processing module is specifically used for: The sea surface height deviation model parameter values ​​are calculated using the sea surface height deviation and the observation angle in the second observation data; The ionospheric VTEC deviation model parameter values ​​are calculated using the ionospheric VTEC deviation and the observation angle.

[0065] In this embodiment of the application, the correction module is specifically used for: The first time delay correction model parameters corresponding to the high-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the high-frequency carrier frequency of the remote sensing technology. The second time delay correction model parameters corresponding to the low-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the low-frequency carrier frequency of the remote sensing technology. The high-frequency time delay deviation correction amount is calculated using the parameters of the first time delay correction model and the observation angle in the second observation data; The low-frequency time delay deviation correction amount is calculated using the parameters of the second time delay correction model and the observation angle; The high-frequency delay measurement value in the current delay measurement value is corrected using the high-frequency delay deviation correction amount to obtain the corrected high-frequency delay measurement value; The low-frequency delay measurement value in the current delay measurement value is corrected using the low-frequency delay deviation correction amount to obtain the corrected low-frequency delay measurement value; The final delay deviation correction model for the first delay is obtained by summing the parameters of the first delay correction model with the historical parameters of the first delay correction model obtained during the iteration process. The final time delay deviation correction model for the second time delay is obtained by summing the parameters of the second time delay correction model with the historical parameters of the second time delay correction model obtained during the iteration process.

[0066] In this embodiment of the application, a determining module is also included, specifically used for: At the end of the iteration, obtain the corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value as the final delay measurement value after calibration; The final time delay deviation correction model of the first time delay and the final time delay deviation correction model of the second time delay obtained at the end of the iteration are used as the final calibration model of the time delay measurement deviation of remote sensing technology.

[0067] In this embodiment of the application, it also includes: The acquisition module is also used to acquire the observation data to be corrected by the remote sensing technology; The input module is used to input the time delay to be corrected from the observation data to be corrected into the final time delay measurement deviation correction model to obtain the corrected time delay.

[0068] In this embodiment of the application, the comparison satellite is an altimeter satellite, and the remote sensing technology is GNSS-R altimeter technology.

[0069] The virtual device in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, a mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. A non-mobile electronic device can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not impose specific limitations.

[0070] Optionally, embodiments of this application also provide an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the above-described multi-physics joint calibration method embodiment for time delay measurement deviation and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0071] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0072] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described multi-physics joint calibration method for time delay measurement deviation and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0073] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0074] It should be noted that, in this document, 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 limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0076] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A multi-physics joint calibration method for time delay measurement bias, characterized in that, include: Acquire first observation data from the comparative satellite, and acquire second observation data from remote sensing technology, and determine multiple observation intersections based on the first and second observation data; The following steps are iterated until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: Sea surface height deviation and ionospheric VTEC deviation are determined based on any unprocessed target observation intersection among multiple observation intersections, the first observation data, and the second observation data. Whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration index respectively; if not, determine the sea surface height deviation model parameter value based on the sea surface height deviation, and determine the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation. Based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, the correction model for the current time delay measurement deviation of the remote sensing technology is determined and the time delay deviation is corrected to obtain the corrected target time delay measurement value and the final time delay deviation correction model. Based on the target time delay measurement, candidate observation data of the remote sensing technology are determined, and the candidate observation data is used as the current second observation data.

2. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, The process of acquiring first observation data from a comparative satellite and second observation data from remote sensing technology, and determining multiple observation intersections based on the first and second observation data, includes: The first sea surface height, the first ionospheric VTEC, and the first observational information were obtained from the comparative satellite. Obtain second sea surface height, second ionospheric VTEC, and second observation information from remote sensing technology; The spatiotemporal overlap points of the first sea surface height and the second sea surface height, the spatiotemporal overlap points of the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points of the first observation information and the second observation information are taken as observation intersection points.

3. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, The determination of sea surface height deviation and ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data, and the second observation data includes: For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; The difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data is calculated to obtain the ionospheric VTEC bias.

4. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, The process of determining the sea surface height deviation model parameter values ​​based on the sea surface height deviation, and determining the ionospheric VTEC deviation model parameter values ​​based on the ionospheric VTEC deviation, includes: The sea surface height deviation model parameter values ​​are calculated using the sea surface height deviation and the observation angle in the second observation data; The ionospheric VTEC deviation model parameter values ​​are calculated using the ionospheric VTEC deviation and the observation angle.

5. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, The process of determining the correction model for the current time delay measurement deviation of the remote sensing technology based on the sea surface height deviation model parameter values ​​and the ionospheric VTEC deviation model parameter values, and performing time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model includes: The first time delay correction model parameters corresponding to the high-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the high-frequency carrier frequency of the remote sensing technology. The second time delay correction model parameters corresponding to the low-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the low-frequency carrier frequency of the remote sensing technology. The high-frequency time delay deviation correction amount is calculated using the parameters of the first time delay correction model and the observation angle in the second observation data; The low-frequency time delay deviation correction amount is calculated using the parameters of the second time delay correction model and the observation angle; The high-frequency delay measurement value in the current delay measurement value is corrected using the high-frequency delay deviation correction amount to obtain the corrected high-frequency delay measurement value; The low-frequency delay measurement value in the current delay measurement value is corrected using the low-frequency delay deviation correction amount to obtain the corrected low-frequency delay measurement value; The final delay deviation correction model for the first delay is obtained by summing the parameters of the first delay correction model with the historical parameters of the first delay correction model obtained during the iteration process. The final time delay deviation correction model for the second time delay is obtained by summing the parameters of the second time delay correction model with the historical parameters of the second time delay correction model obtained during the iteration process.

6. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, Also includes: At the end of the iteration, obtain the corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value as the final delay measurement value after calibration; The final time delay deviation correction model of the first time delay and the final time delay deviation correction model of the second time delay obtained at the end of the iteration are used as the final calibration model of the time delay measurement deviation of remote sensing technology.

7. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, Also includes: Acquire the observation data to be corrected using the remote sensing technology; The time delay to be corrected is input into the observation data to be corrected to train the final time delay measurement deviation correction model, and the corrected time delay is obtained.

8. The multi-physics joint calibration method for time delay measurement deviation according to claim 1, characterized in that, The comparison satellite is an altimeter satellite, and the remote sensing technology is GNSS-R altimeter technology.

9. A multi-physics joint calibration system for time delay measurement bias, characterized in that, include: The acquisition module is used to acquire first observation data from the comparison satellite, and second observation data from remote sensing technology, and to determine multiple observation intersections based on the first observation data and the second observation data; Repeatedly call the following module until the redefined sea surface height deviation and ionospheric VTEC deviation meet the calibration criteria, in order to obtain the calibration results of the time delay measurement deviation model parameters: The detection module is used to detect whether the sea surface height deviation and the ionospheric VTEC deviation meet the calibration indicators respectively. If not, the first processing module is invoked. The first processing module is used to determine the sea surface height deviation and the ionospheric VTEC deviation based on any unprocessed target observation intersection among multiple observation intersections, the first observation data and the second observation data; The second processing module is used to determine the sea surface height deviation model parameter value based on the sea surface height deviation, and to determine the ionospheric VTEC deviation model parameter value based on the ionospheric VTEC deviation. The correction module is used to determine the correction model of the current time delay measurement deviation of the remote sensing technology based on the sea surface height deviation model parameter value and the ionospheric VTEC deviation model parameter value, and to perform time delay deviation correction to obtain the corrected target time delay measurement value and the final time delay deviation correction model. The third processing module is used to determine candidate observation data of the remote sensing technology based on the target time delay measurement value, and to use the candidate observation data as the current second observation data.

10. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, The acquisition module is specifically used for: The first sea surface height, the first ionospheric VTEC, and the first observational information were obtained from the comparative satellite. Obtain second sea surface height, second ionospheric VTEC, and second observation information from remote sensing technology; The spatiotemporal overlap points of the first sea surface height and the second sea surface height, the spatiotemporal overlap points of the first ionospheric VTEC and the second ionospheric VTEC, and the spatiotemporal overlap points of the first observation information and the second observation information are taken as observation intersection points.

11. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, The first processing module is specifically used for: For any unprocessed target observation intersection among multiple observation intersections, calculate the difference between the first sea surface height in the first observation data and the second sea surface height in the second observation data to obtain the sea surface height deviation; The difference between the first ionospheric VTEC in the first observation data and the second ionospheric VTEC in the second observation data is calculated to obtain the ionospheric VTEC bias.

12. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, The second processing module is specifically used for: The sea surface height deviation model parameter values ​​are calculated using the sea surface height deviation and the observation angle in the second observation data; The ionospheric VTEC deviation model parameter values ​​are calculated using the ionospheric VTEC deviation and the observation angle.

13. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, The correction module is specifically used for: The first time delay correction model parameters corresponding to the high-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the high-frequency carrier frequency of the remote sensing technology. The second time delay correction model parameters corresponding to the low-frequency signal are calculated using the sea surface height deviation model parameter values, the ionospheric VTEC deviation model parameter values, and the low-frequency carrier frequency of the remote sensing technology. The high-frequency time delay deviation correction amount is calculated using the parameters of the first time delay correction model and the observation angle in the second observation data; The low-frequency time delay deviation correction amount is calculated using the parameters of the second time delay correction model and the observation angle; The high-frequency delay measurement value in the current delay measurement value is corrected using the high-frequency delay deviation correction amount to obtain the corrected high-frequency delay measurement value; The low-frequency delay measurement value in the current delay measurement value is corrected using the low-frequency delay deviation correction amount to obtain the corrected low-frequency delay measurement value; The final delay deviation correction model for the first delay is obtained by summing the parameters of the first delay correction model with the historical parameters of the first delay correction model obtained during the iteration process. The final time delay deviation correction model for the second time delay is obtained by summing the parameters of the second time delay correction model with the historical parameters of the second time delay correction model obtained during the iteration process.

14. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, It also includes a determination module, specifically used for: At the end of the iteration, obtain the corrected high-frequency delay measurement value and the corrected low-frequency delay measurement value as the final delay measurement value after calibration; The final time delay deviation correction model of the first time delay and the final time delay deviation correction model of the second time delay obtained at the end of the iteration are used as the final calibration model of the time delay measurement deviation of remote sensing technology.

15. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, Also includes: The acquisition module is also used to acquire the observation data to be corrected by the remote sensing technology; The input module is used to input the time delay to be corrected from the observation data to be corrected into the final time delay measurement deviation correction model to obtain the corrected time delay.

16. The multi-physics joint calibration system for time delay measurement deviation according to claim 9, characterized in that, The comparison satellite is an altimeter satellite, and the remote sensing technology is GNSS-R altimeter technology.

17. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the multiphysics joint calibration method for time delay measurement deviation as described in any one of claims 1-8.

18. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the multiphysics joint calibration method for time delay measurement deviation as described in any one of claims 1-8.

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