2045 results about "Satellite navigation" patented technology

The invention discloses a multi-sensor fusion positioning mapping and thermal imaging device and a computer readable medium. The equipment integrates positioning mapping sensors such as a thermal imaging camera, a visible light camera, a laser radar and an inertial navigation system, and is specially designed for high-risk and complex fire emergency environments. Through an end-cloud integrated cluster cooperation system and a multi-link stable transmission technology and in combination with intelligent decision support, high-precision real-time positioning and dynamic 3D temperature measurement mapping can be realized in an environment in which satellite navigation signals are weak or unavailable. The multi-mode portability and environmental adaptability design of the system ensures the high efficiency and safety of an operator / unmanned system under extreme conditions, and the advanced data processing and analysis technology of the system significantly improves the accuracy and response speed of rescue operation. Due to the innovative characteristics, the method has remarkable practical application value and market prospect in the field of fire-fighting emergency rescue.

The invention relates to the technical field of satellite navigation and anti-interference, and discloses an unmanned aerial vehicle dynamic navigation anti-interference method and system based on a single Beidou satellite, and the method comprises the steps: an unmanned aerial vehicle receives a navigation signal through the single Beidou satellite, and carries out the initialization; and performing interference enhancement detection through a multi-frequency domain joint filtering technology. And analyzing a carrier phase tracking spectrum, and carrying out autonomous integrity monitoring on the single Beidou satellite. Deception signals are isolated, navigation parameters are corrected, and the dynamic navigation anti-interference effect of the unmanned aerial vehicle is achieved. According to the method, a carrier phase tracking spectrum is analyzed through a multi-frequency-domain joint filtering technology, a disguise deception signal of a submerged loop is identified under the condition that no strong interference signal exists, and the authenticity of a navigation signal is ensured. In combination with IMU data and historical pseudo-range changes, through real-time comparison of navigation data and IMU calculation data, deception signals are isolated, navigation parameters of the unmanned aerial vehicle are corrected, and it is ensured that the unmanned aerial vehicle can continuously, stably and dynamically fly.

The invention provides a satellite navigation and atmosphere fusion positioning method and system based on an inertial navigation system, and relates to the field of navigation. The method comprises the following steps: firstly, acquiring multi-source navigation original data, including inertial navigation data, satellite navigation data and atmosphere information data; performing feature extraction through deep learning to obtain multi-modal feature data; and performing quality evaluation on the satellite navigation data, and judging whether the satellite navigation signal is effective or not. When the satellite navigation signal is effective, carrying out combined navigation calculation by adopting a federated filtering algorithm, and establishing an atmospheric information error model; and when the satellite navigation signal is invalid, the error model is utilized to compensate the atmosphere information, and is fused with inertial navigation data, so that high-precision navigation is realized, and the flight safety of the unmanned aerial vehicle in a complex environment is guaranteed.

The embodiment of the invention discloses a low-orbit navigation enhanced transmitting terminal time difference calibration method, device and equipment and a medium, and relates to the technical field of satellite navigation, and the method comprises the steps: obtaining a low-orbit satellite satellite-borne receiver clock error, ground observation station coordinates, an observation station receiver clock error and other parameters through calculation of observation data of a GNSS satellite; the ground observation station calculates an inter-system deviation between a low earth orbit satellite system corresponding to each low earth orbit satellite and a GNSS system according to the downlink navigation data of each low earth orbit satellite; and selecting one low-orbit satellite as a reference satellite, obtaining the deviation between reference systems, calculating the time deviation of the navigation enhancement transmitting end of the deviation between other systems and the deviation between the reference systems, and compensating the clock error of the corresponding low-orbit satellite based on the parameter. The method can be used for calibrating the relative time difference of each low-orbit satellite navigation signal transmitting end, realizes low-orbit navigation signal time synchronization, is beneficial to improving the positioning, navigation and time service capabilities of a low-orbit satellite system, and provides more accurate services for users.

The invention discloses a Beidou strong deception jamming detection processing method and system, and relates to the technical field of satellite navigation anti-jamming. The invention provides a solution based on dynamic gain monitoring and multi-dimensional feature collaborative analysis to solve the problems that a Beidou / GNSS system is prone to being affected by strong deception interference signals in a complex electromagnetic environment to suppress radio frequency link gain, and positioning failure is caused by the fact that deception signals and real signals are difficult to distinguish in a traditional technology. According to the method, radio frequency gain change is tracked in real time through a digital AGC module to generate an interference-to-signal ratio, an equivalent carrier-to-noise ratio is calculated in combination with a signal carrier-to-noise ratio for primary judgment, and accurate recognition is achieved by fusing verification of multi-dimensional characteristics such as code phase consistency, carrier frequency stability and signal strength fluctuation. The system comprises a radio frequency front end, a digital AGC module, a correlator channel and an interference processing module, and precise suppression of strong deception interference is realized through dynamic reference gain learning, interference signal mark elimination and robust positioning resolving mechanisms.

The invention relates to a fire prevention and control smart network method and system based on Beidou satellite navigation. The method comprises the following steps: firstly, acquiring real-time operation data of fire-fighting equipment in a building, and scanning a building structure through a three-dimensional imaging device to generate a three-dimensional digital model; secondly, fusing the real-time operation data, the three-dimensional digital model and preset environment parameters to form a fire prevention and control reference data set; thirdly, carrying out multi-dimensional data comparison on the reference data set based on a preset fire-fighting standard program, and generating an alarm signal with spatial positioning information; then, determining a fire-fighting facility failure area according to the alarm signal, and calculating a fire risk diffusion parameter; and finally, generating a grading early warning instruction according to the risk diffusion parameters, and constructing an electronic combat map containing the optimal rescue path. The method provides global and accurate basic data support for fire prevention and control, improves the timeliness and accuracy of early warning, optimizes the rescue path, and improves the fire disposal efficiency.

The invention discloses a single-epoch GNSS-oriented PAR ambiguity precision factor determination method, and relates to the technical field of satellite navigation and positioning. Comprising the following steps: dividing pseudo-range and carrier wave observed quantities in a GNSS double-difference mathematical model into two groups, and constructing a function relationship between a floating point solution # imgabs1 # and a floating point solution # imgabs2 # variance-covariance matrix of an ambiguity vector # imgabs0 #; constructing a single-frequency single-epoch single-system P-ADOP expression and establishing a shrinkage factor k de-inversion transformation analytic expression, and simultaneously obtaining a single-frequency single-epoch single-system GNSS non-inverse transformation P-ADOP approximation formula; and performing analogy derivation on the single-frequency single-epoch single-system non-inverse transformation P-ADOP approximate formula to obtain a single-frequency multi-system or multi-frequency single-epoch GNSS non-inverse transformation P-ADOP general approximate formula. The method has important theoretical value and practical guiding significance for GNSS optimal ambiguity subset rapid selection and positioning and partial ambiguity fixing success rate influence mechanism analysis.

The invention discloses a multi-mode adaptive fusion navigation positioning method and system in a satellite navigation denial environment, the system adopts GNSS / IMU / visual sensors, and the method comprises the following steps: receiving data of the three sensors and completing modeling; initializing the three sensors; judging the strength of the GNSS signal by utilizing chi-square test; optimization variables are set, a residual matrix is constructed, and nonlinear optimization is carried out; setting a GNSS trust factor when the GNSS signal is weak or denial, and calculating a weight; and weighting and fusing sensor data, outputting optimal state estimation of the system, and realizing continuous navigation and positioning. According to the method, a self-adaptive weight adjustment mechanism is established, GNSS trust factors are introduced, and the weights of multi-sensor data are adjusted in a self-adaptive manner, so that the positioning difficulty under the conditions that the GNSS is subjected to deception interference, suppression interference, building blocking and the like can be overcome, and continuous navigation positioning of an unmanned system (such as a robot, an unmanned vehicle, an unmanned aerial vehicle, an unmanned ship, an unmanned underwater vehicle and the like) is realized.

The invention relates to the technical field of high-precision satellite navigation and positioning, and discloses a multi-modal sensor space-time synchronization method for high-precision data acquisition, which comprises the following steps: constructing a hardware delay observation loop to calculate physical response delay in real time; establishing a receiver clock drift model and extracting a clock drift coefficient; generating a phase lead trigger instruction in response to the delay mean value and the clock drift coefficient cumulant based on the GNSS whole-second target moment; according to the method, a feed-forward control closed loop is constructed by using GNSS clock difference parameters, the intrinsic alignment of the heterogeneous sensor physical sampling action and GNSS atomic time is realized, the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized, and the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized. And a strict physical time reference is provided for high-dynamic multi-source data fusion.

A partial ambiguity resolving method suitable for a complex dynamic environment belongs to the field of high-precision dynamic satellite navigation relative positioning, and comprises the following steps: constructing a single-epoch carrier phase double-difference difference observation equation; and calculating a weight factor corresponding to each satellite through a standardized residual error and an IGG3 method, and substituting the weight factors into the double-difference factor matrix to obtain a corrected observation value. And resolving the updated observation equation through a weighted iterative least square method. And carrying out partial ambiguity fixation on the corrected ambiguity floating point solution to obtain a whole cycle ambiguity fixed solution. And carrying out Ratio-based posteriori consistency traversal detection, monitoring the number of satellites participating in calculation in a traversal search process, and if the number of the satellites is smaller than a threshold value, outputting a floating point solution. And if the number of satellites after traversal search is greater than or equal to And substituting the fixed solution of the integer ambiguity into the updated observation equation to obtain a fixed solution of a three-dimensional relative position vector and a covariance matrix of the three-dimensional relative position vector.

The invention discloses an improved satellite navigation authorization signal real-time estimation device, which comprises a public signal tracking module used for tracking a public pseudo code of a satellite navigation signal in real time and outputting the public pseudo code of the satellite signal, a navigation message, baseband data after carrier stripping and a chip synchronization signal; the authorization signal purification module is used for estimating a pseudo code of the authorization signal in real time; and the public signal tracking module is connected with the authorization signal purification module. According to the method, the navigation message and the public pseudo code information of each code period are demodulated firstly, and then pseudo code estimation of M baseband constellations is improved into pseudo code estimation of M / 2 baseband constellations under the assistance of the navigation message and the public pseudo code, so that the bit error rate of authorized pseudo code estimation is reduced, and the accuracy of pseudo code estimation is improved. And the high gain requirement of the satellite navigation authorization signal estimation device on the receiving antenna is reduced.

The invention relates to the technical field of dynamic deformation measurement error real-time correction based on Beidou satellite navigation, in particular to a pumped storage dam deformation monitoring method based on Beidou positioning, and aims to solve the technical problem of monitoring data pseudo fluctuation caused by Beidou signal multi-path time-varying error and structure real displacement frequency domain aliasing in a high-dynamic environment. Millimeter-level real-time resolving is achieved through multi-mode cooperative monitoring network construction and dynamic feature analysis. The method comprises the following steps: deploying a double-frequency Beidou receiver array and an environment sensor, fusing Beidou observation data, reservoir water pressure gradient, foundation vibration spectrum and three-dimensional geologic structure data, constructing a robust solution model constrained by a geologic model, outputting a deformation parameter confidence interval, and suppressing an abnormal value through robust estimation; a historical working condition library is matched by adopting a dynamic time warping algorithm, and an early warning threshold is dynamically calibrated and a monitoring network is reversely optimized in combination with a closed-loop feedback mechanism. According to the invention, the multi-path time-varying error is effectively suppressed.

The invention provides a satellite navigation interference detection and suppression system and method, and belongs to the technical field of signal analysis. The sensor module is used for determining a target area where a sensor is installed according to a target detection sky, and deploying and installing the sensor in the target area to obtain original signal data of a satellite; the signal processing module is used for standardizing the original signal data to obtain standard signal data and converting the standard signal data into a first frequency spectrum; the feature recognition module is used for analyzing features of the first frequency spectrum through fast Fourier transform and screening signal points with abnormal fluctuation; the interference analysis module is used for classifying the features of all the signal points and matching corresponding interference categories to obtain all interference categories of the original signal data; and the interference suppression module is used for adjusting parameters in real time to reduce interference by using an adaptive filter according to the dynamic characteristics of the interference category. The reliability of navigation signals is improved, and the anti-interference capability is enhanced.

The invention relates to the field of satellite navigation anti-interference and the technical field of computers, and discloses a multi-processor core communication method and device, electronic equipment and a storage medium, and the method comprises the steps that a second processor core writes target information into a shared memory, and obtains a first idle channel number; the second processor obtains a first interrupt signal based on an interrupt trigger register corresponding to the first idle channel number; the first processor core reads target information in a shared memory according to the first interrupt signal; the first processor core processes the target information to obtain a processing result, and writes the processing result into the shared memory to obtain a second idle channel number; the first processor core obtains a second interrupt signal based on an interrupt trigger register corresponding to the second idle channel number; and the second processor core reads the processing result in the shared memory according to the second interrupt signal, and writes the processing result into the cache region. The multi-processor core communication method is suitable for different operating systems and is high in transportability.

The invention belongs to the technical field of coal mine underground automatic driving, and provides a coal mine tunnel simultaneous positioning and mapping method and system based on multi-modal data fusion in order to solve the problem of reliable positioning and navigation of an automatic driving vehicle in a large coal mine underground tunnel. According to the invention, a high-precision mine environment three-dimensional point cloud map of a unified navigation coordinate system in a global range from a mine ground plaza to an underground haulage roadway can be established, and the six-degree-of-freedom pose of an underground autonomous vehicle is calculated. Accurate positioning of the underground automatic driving vehicle in a degraded environment such as the coal mine underground roadway is achieved, a coal mine underground roadway simultaneous positioning and mapping system is built, the posture state of the underground automatic driving vehicle can be accurately estimated in an underground space where global satellite navigation signals are lacked, the underground accurate positioning requirement is met, and the positioning accuracy of the underground automatic driving vehicle is improved. The method is of great significance in realizing application of intelligent unmanned transportation equipment in underground coal mines and promoting intelligent and unmanned construction of coal mine auxiliary transportation systems.

The invention is suitable for the technical field of satellite navigation, and provides an accelerated convergence PPP-B2b precision positioning method, which comprises the following steps: calculating satellite precision orbit parameters of each epoch; for the first epoch, obtaining a corresponding satellite precision clock difference parameter based on the basic navigation broadcast clock difference parameter; for all epochs except the first epoch, on the basis of the PPP-B2b clock error correction number of the current epoch and the clock error parameter data of the previous epoch, satellite precision clock error parameters of the current epoch are obtained through calculation; obtaining O-C residual information of the double-frequency observation data in each epoch and constructing partial derivative information of the double-frequency observation data to navigation resolving parameters; and based on the normal equation matrix and the residual vector, calculating to obtain a navigation solution data set of the corresponding epoch, and according to the method, satellite precision clock correction of the first epoch and satellite precision clock correction of the subsequent epoch are processed respectively, so that deviation errors in PPP-B2b clock correction numbers are avoided, and user convergence time is shortened.

The invention relates to the technical field of ship navigation system safety, and provides a Beidou satellite navigation deception detection method and system based on multi-source information, and the method comprises the steps: obtaining Beidou satellite navigation data, AIS information, navigation radar data and sea chart data; performing denoising processing on the Beidou satellite navigation data, and performing space-time compensation on the AIS information; clutter suppression is carried out on the navigation radar data; calculating ship body position deviation, and verifying the ship body relative position according to the ship body position deviation; calculating the real position of the ship body and the Beidou positioning deviation, and verifying the absolute position of the ship body; performing hull course consistency verification; and performing Beidou satellite navigation deception detection according to the ship body relative position verification, the ship body absolute position verification and the ship body course consistency verification. According to the invention, multi-dimensional detection is carried out on key information such as the position and course of the ship, so that the probability that the ship falls into danger due to wrong navigation signals is greatly reduced, and the navigation safety of the ship is guaranteed.

The invention discloses an anti-interference satellite navigation terminal indoor test system, relates to the technical field of big data analysis, and aims at improving the quality of test excitation signals and improving the reliability and accuracy of test results by performing chip estimation and regeneration on authorization signals and removing noise in test excitation. The regenerative modulation reserves authorization signal components, synchronizes Doppler and phase, does not need to apply for an authorization module, avoids the security management problem, simplifies the test process, reduces the cost, and enhances the flexibility. The isolation module shields outdoor leakage signals, assists in increasing test excitation power and overcomes attenuation; the power measurement module monitors feedback in real time and adjusts the adjustable attenuation control module, so that the radiation signal power is maintained in a preset range, the authorized satellite navigation receiver with the anti-interference receiving antenna works normally indoors, and powerful support is provided for research, development and production of satellite navigation terminals.

The invention discloses an unmanned aerial vehicle edge intelligent analysis terminal based on a single Beidou, and relates to the technical field of satellite navigation and unmanned aerial vehicles, and the terminal comprises an edge calculation unit which is in communication connection with a high-definition image collection module, a high-precision positioning module, a Beidou short message communication module and a ground control station; the high-definition image acquisition module is used for acquiring high-definition image data through a CMOS (Complementary Metal Oxide Semiconductor) sensor; the high-precision positioning module is used for acquiring centimeter-level positioning data in the flight process of the unmanned aerial vehicle through an RTK technology and an INS system; the edge calculation unit is used for carrying out target recognition through a lightweight convolutional neural network in combination with a YOLOv5 target detection algorithm; the Beidou short message communication module is used for realizing short message communication between the unmanned aerial vehicle and a ground control station by using RDSS service; and the ground control station is used for creating a user interface by using Qt, carrying out data visualization through Tableau and adopting a security protocol. According to the scheme, remote control, remote information transmission and high-precision positioning functions in a complex environment of the unmanned aerial vehicle are realized.

The invention discloses a satellite-based enhancement information generation method and system based on a low-orbit constellation, and relates to a satellite navigation enhancement technology, and the method comprises the steps: decoding and processing Beidou PPP-B2b message information, so as to obtain a Beidou satellite high-precision orbit and a clock error; smoothing the pseudo-range observation value by using the low-orbit satellite carrier phase observation value; constructing an ionosphere-free combined observation value by using the observation data of the low-orbit satellite, and resolving the real-time position of the low-orbit satellite based on the obtained high-precision orbit and clock correction of the Beidou satellite to obtain the position information and clock correction information of the low-orbit satellite; performing satellite-based enhanced differential correction calculation by using the obtained low-orbit satellite position information, low-orbit satellite observation data and GNSS basic navigation messages to obtain a satellite-based enhanced orbit and clock differential correction; and carrying out pseudo-range residual error correction according to the obtained satellite-based enhancement difference correction number, and carrying out satellite-based enhancement integrity parameter calculation based on a correction result. According to the method, the position of the low-orbit satellite can be determined synchronously without depending on an external high-precision GNSS satellite orbit and clock error data, and the state of the low-orbit satellite is monitored.

The invention discloses a satellite-based enhanced integrity monitoring method and system combined with satellite-earth observation, and relates to a satellite navigation enhancement technology, and the method comprises the steps: obtaining current epoch observation data; constructing an ionosphere-free combined observation value for the low-orbit star observation data and the ground station observation data; determining a low-orbit star orbit and a clock error according to the low-orbit star and ground station observation data; according to the determined orbit of the low-orbit star and the clock error, calculating a pseudo-range residual error of pseudo-range observation data of the low-orbit star and the ground station; according to the calculated pseudo-range residual error and satellite-earth observation data, calculating a satellite-based enhanced differential correction number; and calculating a satellite-based enhancement integrity parameter according to the calculated satellite-based enhancement differential correction and the satellite-earth observation data. According to the invention, the GNSS monitoring receiver is carried on the low-orbit satellite, and the GNSS observation data of the ground monitoring station and the satellite-borne GNSS observation data of the low-orbit satellite are jointly processed, so that the continuous satellite-based enhanced integrity monitoring of the full flight segmental arc of the GNSS satellite is realized.

The embodiment of the invention discloses a Beidou precise dynamic positioning method considering a satellite geometric configuration, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: obtaining a satellite geometric configuration composed of satellites corresponding to each observation value of a current epoch, and calculating the weight of each satellite in the satellite geometric configuration; rTK floating point solution calculation is carried out, the weight proportion in the filtering process is adjusted through an IGG-III robust optimization method considering the geometric configuration of the satellite, and an adjusted floating point solution is output; fixing the ambiguity, fixing the partial ambiguity which does not pass the ratio test based on a preset elimination sequence, and outputting an ambiguity fixed solution or an ambiguity floating point solution; and outputting a positioning result of the current epoch. According to the method, the satellite configuration and the error of each satellite are considered during floating point solution calculation, so that the precision of the floating point solution is effectively improved; by introducing an ambiguity subset optimization strategy considering the geometric configuration of the satellite, the ambiguity fixed rate and the precision of a fixed solution are improved.

The invention relates to the technical field of vehicle-mounted antennas, and aims to solve the technical problem of low antenna gain. In order to solve the technical problem, the invention provides the double-frequency automobile glass antenna applied to vehicle-mounted satellite navigation. According to the invention, an intermediate dielectric layer is stacked below an outer glass dielectric layer; the inner glass dielectric layer is stacked below the middle dielectric layer; the first patch is attached between the outer glass dielectric layer and the middle dielectric layer; the first patch is provided with four fan-shaped grooves penetrating through the thickness of the first patch; the second patch is attached between the middle dielectric layer and the inner glass dielectric layer; the second patch is provided with four linear grooves penetrating through the thickness of the second patch, and the four linear grooves are distributed in a cross shape; the fan-shaped grooves and the straight-line-shaped grooves are arranged in a one-to-one correspondence mode, and orthographic projections of the straight-line-shaped grooves are covered by orthographic projections of the fan-shaped grooves The feed patch is attached to the lower surface of the inner glass dielectric layer and is used for feeding; and the PCB layer is attached to the lower surface of the feed patch. The antenna covers two resonance points, and the antenna gain is high.

The invention relates to the technical field of time synchronization, and discloses a hybrid time service method based on Beidou satellite navigation and a TSN, which comprises the following steps: acquiring network topology structure information and historical time service error data of each synchronization node in a target distributed system, and constructing a dynamic time delay state set for jitter identification; based on the dynamic time delay state set, a current global time reference is extracted through a time calibration algorithm, a time difference reference vector sequence is generated, and initial synchronization adjustment is carried out on the TSN main node; constructing an inter-node clock convergence function curve according to the slave node response stability, and judging whether the synchronous network is in a low jitter interval or not based on the time offset rate and the time drift trend change; in combination with the node time state after directional offset suppression, a multi-channel redundant time synchronization mechanism in a time window is applied, a weight adjustment coefficient is extracted, and an unbalanced calibration factor is introduced; and according to a regression correction result, evaluating a time service stability index in real time. The method has the advantage of improving the time service stability.

The invention provides an unmanned aerial vehicle inspection accurate positioning method and device integrating vision and satellite navigation, and relates to the technical field of aerospace information. According to the method, satellite signal quality features reflecting aerospace information reliability and multi-dimensional features such as visual geometric textures reflecting ground environment features are jointly extracted, and the environment state is deeply perceived; based on real-time dynamic generation of a fusion strategy adaptive to the current environment, a data weight and an algorithm model are intelligently adjusted, and the limitation of a traditional fixed parameter fusion mode is broken through; a specific inspection stage and a target object where the unmanned aerial vehicle is located are understood through visual identification, and a corresponding priori task constraint model is loaded, so that the positioning process closely meets the precision and safety requirements of actual operation. And finally, fusion calculation is carried out under the common guidance of a dynamic strategy and task constraints, so that the problem of inaccurate positioning of the unmanned aerial vehicle in a complex environment is solved, and the environmental adaptability, robustness and task guidance accuracy of a positioning system are improved.

The invention relates to a method for reducing the effects of noise suppression on the measurement of the phases of satellite navigation signals at the point of their reception, wherein, in the method, a one-dimensional or multi-dimensional antenna array is provided with multiple reception antennas, satellite navigation signals received by the reception antennas are processed in a signal processing unit, the received satellite navigation signals undergo noise suppression in the signal processing unit by means of a spatial filter, i.e., by means of spatial filtering, for example by a power inversion (PI) filter or a projection filter, and after the noise suppression by means of the signal processing unit, the carrier phase of at least one or each satellite navigation signal is determined and is corrected by calculating parameters of one or more eigenbeamformers.

The invention discloses a GNSS real-time deception jamming detection method and system based on deep learning, and belongs to the field of satellite navigation signal processing, and the method comprises the steps: collecting Doppler frequency shift signals of a GNSS receiver in real time, and obtaining an initial training data set; an LSTM prediction model with an incremental learning mechanism is constructed, the LSTM prediction model comprises a double-layer LSTM network and a full connection layer, a gating mechanism is introduced into the double-layer LSTM network, and the initial training data set is adopted to add Gaussian white noise to the prediction model for model training; performing sliding window processing on the initial training data set, and extracting a multi-dimensional feature vector; inputting the trained prediction model for prediction to obtain a model prediction value; calculating a residual error between a model predicted value and a real value, calculating a standard deviation of the residual error after eliminating a preheating period, and dynamically setting a threshold value based on the standard deviation of the residual error; and when the absolute value of the residual exceeds a threshold value and the sampling point processed by the sliding window is located in a preset interference time window, judging that a signal interference event occurs.

The invention discloses an ambiguity determination method for satellite positioning, a terminal and a medium in the field of satellite navigation and positioning, and the method comprises the steps: obtaining observation data of a base station and a mobile station, eliminating errors through employing a double-difference technology, and carrying out the cycle slip correction, and obtaining the corrected observation data; preliminarily estimating the speed and position of the mobile station; based on the corrected observation data, extracting an optimal ambiguity subset through satellite-level and ambiguity-level screening; constructing a factor graph model by using the optimal ambiguity subset, taking the preliminarily estimated speed and position of the mobile station as initial values, minimizing an error function in a factor graph, and optimizing to obtain a floating solution of ambiguity; obtaining an integer ambiguity solution based on the floating point solution; and verifying the stability of an ambiguity resolving result through consistency, and finally obtaining an ambiguity fixed solution. According to the method provided by the invention, high precision, high efficiency and high stability of ambiguity calculation are realized, and the method is suitable for a high-precision satellite positioning system in a complex environment.

The invention discloses an enhanced information generation method and system fusing SBAS and PPP, and relates to a satellite navigation enhancement technology, and the method comprises the steps: receiving observation data of an SBAS and a global real-time monitoring station, and carrying out the file storage according to a standard format; carrying out precise orbit determination and forecasting by utilizing a stored standard format file and adopting a simplified dynamics method, and carrying out continuous calculation by taking one hour as a sliding window to generate a real-time precise orbit of the satellite; based on a satellite real-time precision orbit and real-time monitoring station data, a non-difference observation model and a sequential least square method are adopted for parameter solving, and a satellite real-time precision clock error is generated; solving an ephemeris and star clock differential correction number based on the broadcast ephemeris by using a satellite real-time precise orbit and a precise clock difference; and solving a covariance matrix and an integrity parameter by using the differential correction of the star calendar and the star clock. According to the method, two navigation enhancement technical means are fused, and the high-precision and high-integrity navigation positioning requirements are met.

The invention discloses a high-speed train multi-information fusion positioning method based on a Beidou satellite, and relates to the technical field of satellite navigation and positioning. The method comprises the following steps: designing a high-speed train multi-information fusion positioning scheme; based on a train multi-information fusion positioning scheme, establishing a nonlinear train state model based on a train kinematics equation; the position, speed, acceleration, course angle and pitch angle of the train are used as state vectors, and a train measurement model is constructed; based on a tracking target set by a train state model and a train measurement model, the train state is estimated by fusing IMM-UKF / PF models of unscented Kalman filter (UKF) and particle filter (PF) and introducing ACW and a short-term error feedback mechanism in state fusion. According to the method, the positioning precision and robustness can be improved, and the dynamic response capability in a complex scene can be enhanced.