CN113093237A - SSR (simple sequence repeat) rail clock correction number quality factor real-time evaluation method, device, equipment and medium - Google Patents
SSR (simple sequence repeat) rail clock correction number quality factor real-time evaluation method, device, equipment and medium Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, equipment and a medium for evaluating the quality factor of an SSR (simple sequence repeat) orbital clock correction number in real time. The method comprises the following steps: obtaining first observations, wherein the first observations comprise pseudorange observations and phase observations between a satellite and each of a plurality of reference stations; performing Precise Point Positioning (PPP) based on the first observation data, and determining first residual error information, wherein the first residual error information comprises pseudo-range residual errors between the satellite and each of the plurality of reference stations and phase residual errors between the satellite and each effective reference station of the plurality of reference stations, and the effective reference stations are the reference stations without cycle slip of the phase observation data between the satellite and the plurality of reference stations; and determining the SSR orbital clock correction quality factor of the satellite according to the first residual error information. The invention can improve the precision and stability of user positioning.
Description
Technical Field
The invention relates to the field of satellite positioning, in particular to a method, a device, equipment and a computer-readable storage medium for evaluating quality factors of SSR (simple sequence repeat) orbital clock correction numbers in real time.
Background
A Global Navigation Satellite System (GNSS) can provide positioning, Navigation, and time service for users. The real-time navigation user receives satellite observation data and broadcast ephemeris for positioning, and the positioning accuracy is in a meter level. In order to improve the real-time positioning accuracy of users, a network RTK technology is developed. A reference station network with known precise coordinates is arranged in a certain area according to a certain density, VRS virtual observation data is generated near a mobile user by utilizing the characteristics related to an error space and is sent to the user through a communication link, and the positioning is carried out by utilizing the conventional RTK positioning technology, so that the precision reaches centimeter level. However, the network RTK cannot provide services to users in areas without reference stations or areas that cannot communicate. Therefore, a satellite-based augmentation system is developed, and the defects of network RTK can be overcome.
The satellite-based augmentation system classifies various error sources (orbit, star clock and the like), obtains the correction number of each error, and can broadcast the State Space Representation (SSR) correction number to users for use through a satellite link, and the Positioning precision of the users in Real-Time precision Point Positioning technology (RT-PPP) can reach the centimeter level. The accuracy of the SSR satellite orbital clock correction number influences the RT-PPP user positioning performance, so that the accuracy of the SSR satellite orbital clock correction number is evaluated in real time.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for evaluating the SSR (simple sequence repeat) orbital clock correction quality factor in real time and a computer-readable storage medium, so that a user can reasonably weight a satellite observation value according to the SSR orbital clock correction quality factor and then process data, and the positioning precision and stability of the user can be improved.
In a first aspect, the present invention provides a method for evaluating the quality factor of an SSR clock correction number in real time, the method comprising: obtaining first observations, wherein the first observations comprise pseudorange observations and phase observations between a satellite and each of a plurality of reference stations; performing Precision Point Positioning (PPP) based on the first observation data, and determining first residual information, where the first residual information includes pseudo-range residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each of effective reference stations among the plurality of reference stations, where the effective reference stations are reference stations among the plurality of reference stations where there is no cycle slip in phase observation data between the satellite and the effective reference stations; and determining the SSR orbital clock correction quality factor of the satellite according to the first residual error information.
In some implementations of the first aspect, performing PPP based on the first observation data, and determining the first residual information includes: removing phase observation data with cycle slip in the first observation data to obtain second observation data; PPP is conducted based on the second observation data, and first residual error information is determined.
In some implementations of the first aspect, performing PPP based on the second observation data, and determining the first residual information includes: determining the orbit information of the satellite and the clock error of the satellite according to the broadcast ephemeris and the SSR orbit clock correction number; determining pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations based on the ionospheric-free combined observations of the second observations, orbital information of the satellite, clock differences of the satellite, and positions of each of the plurality of reference stations.
In some implementations of the first aspect, determining the SSR orbital correction quality factor for the satellite from the first residual information comprises: removing pseudo-range residual errors and phase residual errors of which the altitude angles are lower than a preset altitude angle threshold value in the first residual error information to obtain second residual error information; performing gross error elimination on pseudo-range residual errors and phase residual errors in the second residual error information to obtain third residual error information; and determining the SSR orbital clock correction number quality factor of the satellite according to the third residual error information.
In some implementations of the first aspect, determining the SSR orbital correction quality factor for the satellite from the third residual information includes: respectively determining a pseudo-range quality factor and a phase quality factor according to the pseudo-range residual error and the phase residual error in the third residual error information; and when the pseudo-range quality factor is not less than the preset pseudo-range quality factor threshold, the pseudo-range quality factor is taken as the SSR orbit clock correction quality factor of the satellite.
In some implementations of the first aspect, determining the pseudorange quality factor and the phase quality factor from the pseudorange residual and the phase residual in the third residual information, respectively, includes: and calculating the root mean square value of the pseudo-range residual in the third residual information to obtain a pseudo-range quality factor, and calculating the root mean square value of the phase residual in the third residual information to obtain a phase quality factor.
In some implementations of the first aspect, after determining the SSR orbital correction quality factor for the satellite from the first residual information, the method further comprises: and sending the SSR orbital correction number quality factor of the satellite to the user equipment.
In a second aspect, the present invention provides a device for evaluating the quality factor of SSR clock correction in real time, the device comprising: an acquisition module configured to acquire first observation data, wherein the first observation data includes pseudo-range observations and phase observations between a satellite and each of a plurality of reference stations; the determining module is used for performing precise point positioning PPP based on the first observation data and determining first residual error information, wherein the first residual error information comprises pseudo-range residual errors between the satellite and each reference station in the plurality of reference stations and phase residual errors between the satellite and each effective reference station in the plurality of reference stations, and the effective reference stations are the reference stations without cycle slip of phase observation data between the satellite and the plurality of reference stations; the determining module is further used for determining an SSR orbital correction number quality factor of the satellite according to the first residual error information.
In some implementations of the second aspect, the determining module is specifically configured to: removing phase observation data with cycle slip in the first observation data to obtain second observation data; PPP is conducted based on the second observation data, and first residual error information is determined.
In some implementations of the second aspect, the determining module is specifically configured to: determining the orbit information of a satellite and the clock error of the satellite according to the broadcast ephemeris and the SSR orbital clock correction number; determining pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations based on the ionospheric-free combined observations of the second observations, orbital information of the satellite, clock differences of the satellite, and positions of each of the plurality of reference stations.
In some implementations of the second aspect, the determining module is specifically configured to: removing pseudo-range residual errors and phase residual errors of which the altitude angles are lower than a preset altitude angle threshold value in the first residual error information to obtain second residual error information; performing gross error elimination on pseudo-range residual errors and phase residual errors in the second residual error information to obtain third residual error information; and determining the SSR orbital clock correction quality factor of the satellite according to the third residual information.
In some implementations of the second aspect, the determining module is specifically configured to: respectively determining a pseudo-range quality factor and a phase quality factor according to the pseudo-range residual error and the phase residual error in the third residual error information; and when the pseudo-range quality factor is not less than the preset pseudo-range quality factor threshold, the pseudo-range quality factor is taken as the SSR orbit clock correction quality factor of the satellite.
In some implementations of the second aspect, the determining module is specifically configured to: and calculating the root mean square value of the pseudo-range residual in the third residual information to obtain a pseudo-range quality factor, and calculating the root mean square value of the phase residual in the third residual information to obtain a phase quality factor.
In some implementations of the second aspect, the apparatus further comprises: and the sending module is used for sending the SSR orbital clock correction quality factor of the satellite to the user equipment after determining the SSR orbital clock correction quality factor of the satellite according to the first residual error information.
In a third aspect, the present invention provides an SSR orbital clock correction quality factor real-time assessment apparatus, including: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the method for real-time assessment of SSR rail clock correction quality factor as described in the first aspect or any of its realizations.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement the method for evaluating the quality factor of the SSR clock correction in real time according to the first aspect or any one of the realizable manners of the first aspect.
The invention relates to the field of satellite positioning, in particular to a method, a device, equipment and a computer-readable storage medium for evaluating quality factors of SSR (simple sequence repeat) orbital clock correction numbers in real time. Pseudo-range residual errors and phase residual errors between the satellites and the reference station are obtained through PPP calculation, SSR orbit clock correction quality factors of the satellites are evaluated in real time according to the pseudo-range residual errors and the phase residual errors, user equipment can reasonably weight a satellite observation value according to the SSR orbit clock correction quality factors of the satellites and then process data, and the accuracy and the stability of RT-PPP user positioning can be improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for evaluating the quality factor of an SSR clock correction number in real time according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an SSR clock-corrected quality factor real-time evaluation apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an SSR clock-corrected digital quality factor real-time evaluation device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
At present, the real-time orbit and the IGU precise ephemeris are compared to obtain a difference value by acquiring real-time IGU precise ephemeris data, and the difference value is used as a basis for weighting to perform quality control on the orbit. However, the method cannot evaluate the precision of the SSR satellite orbital clock correction number in real time.
In view of the above, embodiments of the present invention provide a method, an apparatus, a device, and a computer-readable storage medium for evaluating SSR track clock correction quality factors in real time, where a pseudo-range residual and a phase residual between a satellite and a reference station are obtained through precision Point location (PPP) calculation, and the SSR track clock correction quality factors of the satellite are evaluated in real time according to the pseudo-range residual and the phase residual, so that a user equipment can reasonably weight a satellite observation value according to the SSR track clock correction quality factors of the satellite and then process data, and accuracy and stability of RT-PPP user location can be improved.
The PPP can perform single-point positioning by using the satellite ephemeris and the satellite clock error and using the phase observation data and the pseudo-range observation data acquired by the single receiver as the main observation data.
The method for evaluating the quality factor of the SSR clock correction number in real time according to the embodiment of the present invention is described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for evaluating the quality factor of an SSR clock correction number in real time according to an embodiment of the present invention. As shown in fig. 1, the SSR orbital correction number quality factor real-time evaluation method 100 may include S110 to S130.
S110, first observation data are obtained.
In particular, the first observations may include pseudorange observations and phase observations between a satellite and each of a plurality of reference stations. In other words, pseudorange observations and phase observations may be received for satellites transmitted by multiple reference stations. The reference station is a ground fixed observation station which continuously observes satellite signals for a long time and transmits observation data in real time or at regular time through a communication facility, and a receiver is arranged on the reference station. In this way, pseudorange observations and phase observations of the satellite observed by multiple reference stations may be obtained, i.e., enough observations can be obtained to provide data support for further processing.
In general, carrier phase observations refer to the phase difference between a satellite carrier signal received by a terrestrial receiver and a reference carrier signal generated by a receiver oscillator. In an actual measurement process, because a clock difference exists between a satellite clock and a ground receiver clock, and a signal is easily affected by factors such as atmospheric refraction during propagation, the distance is not a true distance between the ground receiver and the satellite, and is called a pseudorange.
S120, performing precision point positioning PPP based on the first observation data, and determining first residual error information.
First, the phase observation data with cycle slip in the first observation data may be removed to obtain the second observation data. Specifically, cycle slip detection may be performed on the phase observation data in the first observation data, and then the phase observation data with cycle slip in the first observation data is removed to obtain the second observation data. Therefore, abnormal phase observation data can be removed, and the accuracy of subsequent processing is improved. Illustratively, cycle slip may be detected using a MW combination (Melbourne-Wubiena combination) method and/or an ionospheric residual combination method.
Notably, cycle slip refers to a jump or interruption in the count of a full cycle due to loss of lock on satellite signals in carrier phase measurements of a GNSS.
Then, PPP is performed based on the second observation data, and first residual information is determined. Specifically, the orbit information of the satellite and the clock error of the satellite can be determined according to the broadcast ephemeris and the SSR orbit clock correction number. The broadcast ephemeris includes predictions of satellite positions, velocities, clock biases and clock drifts, which are not only important components of GNSS navigation messages but also a final expression form of satellite orbit broadcast to users, and is used for providing satellite position information for user navigation positioning. The SSR orbit clock correction number is the SSR orbit clock correction number, can be broadcasted by a precise positioning service provider through a satellite link, and mainly comprises information such as satellite orbit errors and satellite clock errors of broadcast ephemeris.
Determining pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations based on the ionospheric-free combined observations of the second observations, orbital information of the satellite, clock differences of the satellite, and positions of each of the plurality of reference stations. It is noted that the effective reference station refers to a reference station having no cycle slip in phase observation data between the plurality of reference stations and the satellite, i.e. the phase observation data between the effective reference station and the satellite has no cycle slip. Therefore, the method does not need to depend on a third-party orbit clock error data source, can synthesize pseudo-range residual errors and phase residual errors, and improves the accuracy of error estimation values of the orbit clock errors.
In other words, the first residual information includes pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations.
As a specific example, equations (1), (2) are pseudo-range, phase ionosphere-free combined observation models between the satellite and each of the plurality of reference stations.
Wherein i represents a satellite, k represents a receiver of a reference station, PC represents a pseudorange ionosphere-free combined observation, LC represents a phase ionosphere-free combined observation, and X representsi、Yi、ZiIndicating the position of the satellite, Δ tiRepresenting the clock error of the satellite, which can be calculated from the broadcast ephemeris and SSR correction, Xk、Yk、ZkIndicating the receiver position, i.e. the receiver position of the reference station, since the receiver is arranged on the reference station, as known accurate coordinates, c indicates the speed of light, atkIndicating clock error, Δ trip, of the receiveriDenotes tropospheric delay, λLCWhich represents the wavelength of the light emitted by the light source,
representing the degree of ambiguity, ∈PCIncluding pseudorange hardware delays, multipaths, antenna phase center bias, other errors in solid tide, sea tide, extreme tide, and pseudorange observation noise, εLCIncluding phase hardware delays, phase wrap, antenna phase center bias, solid tide, sea tide, extreme tide, and other errors and phase observation noise.
The parameters of the equations (1) and (2) can be estimated in real time by using a Kalman filter, and after the ambiguity of the satellite converges to a stable value, the ambiguity of the satellite is fixed as a known value and is calculated on the basis of the known value, so as to obtain a pseudo-range residual error and a phase residual error. In this way, pseudorange residuals between the satellite and each of the plurality of reference stations and phase residuals between the satellite and each valid reference station of the plurality of reference stations may be obtained.
And S130, determining the SSR orbital clock correction number quality factor of the satellite according to the first residual error information.
First, a pseudorange residual and a phase residual of which the elevation angle is lower than a preset elevation angle threshold in the first residual information may be removed to obtain second residual information. It can be understood that the preset altitude angle threshold value can be flexibly adjusted according to actual conditions. Therefore, the pseudo-range residual error and the phase residual error with larger observation noise in the first residual error information can be removed, and the accuracy of subsequent processing is improved.
And secondly, coarse difference elimination can be carried out on the pseudo-range residual error and the phase residual error in the second residual error information to obtain third residual error information. The gross error generally refers to an error with an absolute value larger than 3 times the median error, including an error caused by negligence in internal and external operations, and a measurement deviation with an absolute value exceeding a limit difference can be regarded as the gross error. Optionally, the gross error in the phase residuals may be removed based on a 3 σ criterion, and similarly, the gross error of the pseudorange residuals may also be removed based on a 3 σ criterion.
Again, the SSR orbital correction quality factor for the satellite may be determined from the third residual information. Specifically, the pseudorange quality factor and the phase quality factor may be determined from the pseudorange residual and the phase residual in the third residual information, respectively. And when the pseudo-range quality factor is not less than the preset pseudo-range quality factor threshold, the pseudo-range quality factor is taken as the SSR orbit clock correction quality factor of the satellite.
For example, the root mean square value of the pseudo-range residual in the third residual information is calculated to obtain the pseudo-range quality factor, and the root mean square value of the phase residual in the third residual information is calculated to obtain the phase quality factor. Because the magnitude of pseudo-range noise is dm-m and the magnitude of phase noise is cm, when the quality factor of the pseudo-range is less than 5m (the preset pseudo-range quality factor threshold can be adjusted according to the actual situation), the phase quality factor is used as the quality factor of the SSR orbit clock correction number of the satellite, and the quality factor of the SSR orbit clock correction number can be more accurately represented by the phase quality factor at the moment. When the pseudo-range quality factor is larger than 5m, the pseudo-range quality factor is used as the SSR orbit clock correction number quality factor of the satellite, and the reason is that partial errors can be absorbed due to the lack of absolute reference when the phase ambiguity is calculated.
According to the SSR orbital clock correction quality factor real-time evaluation method provided by the embodiment of the invention, pseudo-range residual errors and phase residual errors between the satellites and the reference station are obtained through PPP calculation, and the SSR orbital clock correction quality factors of the satellites are evaluated in real time according to the pseudo-range residual errors and the phase residual errors, so that user equipment can reasonably weight a satellite observation value according to the SSR orbital clock correction quality factors of the satellites and then process data, and the accuracy and the stability of RT-PPP user positioning can be improved.
In some embodiments, after determining the SSR orbital correction quality factor for the satellite from the first residual information, the SSR orbital correction quality factor for the satellite may be sent to the user equipment.
In particular, the satellite orbit quality factor may be broadcast to the user over a communication link as an assistance to positioning. By broadcasting the SSR orbit clock quality factor obtained by real-time calculation to users, the users can decide the right of the observed value of the satellite according to the SSR orbit clock quality factor, assist the RT-PPP user positioning, and improve the accuracy and the stability of the RT-PPP user positioning.
Fig. 2 is a schematic structural diagram of an SSR clock correction quality factor real-time evaluation apparatus according to an embodiment of the present invention, and as shown in fig. 2, the SSR clock correction quality factor real-time evaluation apparatus 200 may include: an obtaining module 210 and a determining module 220.
The obtaining module 210 is configured to obtain first observation data. Wherein the first observations comprise pseudorange observations and phase observations between the satellite and each of the plurality of reference stations.
The determining module 220 is configured to perform precise point-to-point positioning PPP based on the first observation data, and determine first residual information. Wherein the first residual information includes pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations. Wherein the active reference station is one of the plurality of reference stations for which there is no cycle slip in phase observations with the satellite.
The determining module 220 is further configured to determine an SSR orbital correction quality factor of the satellite according to the first residual information.
In some embodiments, the determining module 220 is specifically configured to remove phase observation data with cycle slip from the first observation data to obtain the second observation data. PPP is conducted based on the second observation data, and first residual error information is determined.
In some embodiments, the determining module 220 is specifically configured to determine the orbit information of the satellite and the clock error of the satellite according to the broadcast ephemeris and the SSR orbit correction numbers. Determining pseudorange residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each valid reference station of the plurality of reference stations based on the ionospheric-free combined observations of the second observations, orbital information of the satellite, clock differences of the satellite, and positions of each of the plurality of reference stations.
In some embodiments, the determining module 220 is specifically configured to remove a pseudorange residual and a phase residual of which the elevation angle is lower than a preset elevation angle threshold in the first residual information, so as to obtain second residual information. And performing gross error elimination on the pseudo-range residual error and the phase residual error in the second residual error information to obtain third residual error information. And determining the SSR orbital clock correction quality factor of the satellite according to the third residual information.
In some embodiments, the determining module 220 is specifically configured to determine the pseudorange quality factor and the phase quality factor according to the pseudorange residual and the phase residual in the third residual information, respectively. And when the pseudo-range quality factor is not less than the preset pseudo-range quality factor threshold, the pseudo-range quality factor is taken as the SSR orbit clock correction quality factor of the satellite.
In some embodiments, the determining module 220 is specifically configured to calculate a root mean square value of a pseudorange residual in the third residual information to obtain a pseudorange quality factor, and calculate a root mean square value of a phase residual in the third residual information to obtain a phase quality factor.
In some embodiments, the apparatus 200 further comprises a sending module 230 configured to send the SSR orbital correction quality factor of the satellite to the user equipment after determining the SSR orbital correction quality factor of the satellite according to the first residual information.
According to the SSR orbital clock correction quality factor real-time assessment device provided by the embodiment of the invention, pseudo-range residual errors and phase residual errors between the satellites and the reference station are obtained through PPP calculation, and the SSR orbital clock correction quality factors of the satellites are assessed in real time according to the pseudo-range residual errors and the phase residual errors, so that user equipment can reasonably weight a satellite observation value according to the SSR orbital clock correction quality factors of the satellites and then process data, and the accuracy and the stability of RT-PPP user positioning can be improved.
It can be understood that the SSR clock correction quality factor real-time evaluation apparatus 200 according to the embodiment of the present invention may correspond to an execution subject of the SSR clock correction quality factor real-time evaluation method according to the embodiment of the present invention shown in fig. 1, and specific details of operations and/or functions of each module/unit of the SSR clock correction quality factor real-time evaluation apparatus 200 may refer to the descriptions of the corresponding parts in the SSR clock correction quality factor real-time evaluation method according to the embodiment of the present invention shown in fig. 1, and are not described herein again for brevity.
Fig. 3 is a schematic diagram of a hardware structure of an SSR rail clock correction quality factor real-time evaluation device according to an embodiment of the present invention.
As shown in fig. 3, the SSR rail clock correction number quality factor real-time evaluation device 300 in the present embodiment includes an input device 301, an input interface 302, a central processor 303, a memory 304, an output interface 305, and an output device 306. The input interface 302, the central processing unit 303, the memory 304, and the output interface 305 are connected to each other through a bus 310, and the input device 301 and the output device 306 are connected to the bus 310 through the input interface 302 and the output interface 305, respectively, and further connected to other components of the SSR rail clock correction number quality factor real-time evaluation device 300.
Specifically, the input device 301 receives input information from the outside and transmits the input information to the central processor 303 through the input interface 302; central processor 303 processes the input information based on computer-executable instructions stored in memory 304 to generate output information, stores the output information temporarily or permanently in memory 304, and then transmits the output information to output device 306 through output interface 305; output device 306 outputs the output information to the exterior of SSR rail clock correction number quality factor real-time evaluation device 300 for use by the user.
In one embodiment, the SSR orbital correction quality factor real-time evaluation device 300 shown in fig. 3 includes: a memory 304 for storing programs; and a processor 303, configured to execute a program stored in the memory to perform the method for evaluating the quality factor of the SSR clock correction number in real time according to the embodiment shown in fig. 1.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium has computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement the method for evaluating the quality factor of the SSR clock correction number in real time provided by the embodiment shown in fig. 1.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuits, semiconductor Memory devices, Read-Only memories (ROMs), flash memories, erasable ROMs (eroms), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (13)
1. A method for evaluating the quality factor of SSR orbital correction number in real time in a state space comprises the following steps:
obtaining first observations, wherein the first observations comprise pseudorange observations and phase observations between a satellite and each of a plurality of reference stations;
performing a Precision Point Positioning (PPP) based on the first observation data, and determining first residual information, wherein the first residual information includes pseudo-range residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each of effective reference stations of the plurality of reference stations, and the effective reference stations are reference stations of the plurality of reference stations for which there is no cycle slip in phase observation data with the satellite;
and determining the SSR orbital clock correction number quality factor of the satellite according to the first residual error information.
2. The method of claim 1, wherein the performing PPP based on the first observation data and determining first residual information comprises:
removing phase observation data with cycle slip in the first observation data to obtain second observation data;
and performing PPP based on the second observation data, and determining the first residual error information.
3. The method of claim 2, wherein the PPP based on the second observation data, determining the first residual information, comprises:
determining the orbit information of the satellite and the clock error of the satellite according to the broadcast ephemeris and the SSR orbital clock correction number;
determining pseudorange residuals between the satellite and each of the plurality of reference stations, phase residuals between the satellite and each valid one of the plurality of reference stations, based on ionospheric-free combined observations of the second observations, orbital information of the satellite, clock biases of the satellite, and positions of each of the plurality of reference stations.
4. The method according to claim 1, wherein said determining an SSR orbital correction quality factor for the satellite from the first residual information comprises:
removing pseudo-range residual errors and phase residual errors of which the altitude angles are lower than a preset altitude angle threshold value in the first residual error information to obtain second residual error information;
performing gross error elimination on pseudo-range residual errors and phase residual errors in the second residual error information to obtain third residual error information;
and determining the SSR orbital clock correction number quality factor of the satellite according to the third residual error information.
5. The method according to claim 4, wherein said determining an SSR orbital correction quality factor for the satellite from the third residual information comprises:
respectively determining a pseudo-range quality factor and a phase quality factor according to the pseudo-range residual error and the phase residual error in the third residual error information;
and when the pseudo-range quality factor is not less than the preset pseudo-range quality factor threshold, the pseudo-range quality factor is taken as the SSR (simple sequence repeat) orbit clock correction quality factor of the satellite.
6. The method of claim 5, wherein determining a pseudorange quality factor and a phase quality factor from a pseudorange residual and a phase residual in the third residual information, respectively, comprises:
and calculating the root mean square value of the pseudo-range residual in the third residual information to obtain the pseudo-range quality factor, and calculating the root mean square value of the phase residual in the third residual information to obtain the phase quality factor.
7. The method according to any one of claims 1-6, wherein after determining an SSR orbital correction quality factor for the satellite from the first residual information, the method further comprises:
and sending the SSR orbital correction number quality factor of the satellite to user equipment.
8. An SSR rail clock correction number quality factor real-time assessment device, characterized in that the device comprises:
an acquisition module to acquire first observations, wherein the first observations comprise pseudorange observations and phase observations between a satellite and each of a plurality of reference stations;
a determining module, configured to perform a precise point positioning PPP based on the first observation data, and determine first residual information, where the first residual information includes pseudo-range residuals between the satellite and each of the plurality of reference stations, and phase residuals between the satellite and each of effective reference stations among the plurality of reference stations, where the effective reference stations are reference stations among the plurality of reference stations for which there is no cycle slip in phase observation data with the satellite;
the determining module is further used for determining an SSR orbital correction number quality factor of the satellite according to the first residual information.
9. The apparatus of claim 8, wherein the determining module is specifically configured to:
removing phase observation data with cycle slip in the first observation data to obtain second observation data;
and performing PPP based on the second observation data, and determining the first residual error information.
10. The apparatus of claim 9, wherein the determining module is specifically configured to:
determining the orbit information of the satellite and the clock error of the satellite according to the broadcast ephemeris and the SSR orbital clock correction number;
determining pseudorange residuals between the satellite and each of the plurality of reference stations, phase residuals between the satellite and each valid one of the plurality of reference stations, based on ionospheric-free combined observations of the second observations, orbital information of the satellite, clock biases of the satellite, and positions of each of the plurality of reference stations.
11. The apparatus of claim 8, wherein the determining module is specifically configured to:
removing pseudo-range residual errors and phase residual errors of which the altitude angles are lower than a preset altitude angle threshold value in the first residual error information to obtain second residual error information;
performing gross error elimination on pseudo-range residual errors and phase residual errors in the second residual error information to obtain third residual error information;
and determining the SSR orbital clock correction number quality factor of the satellite according to the third residual error information.
12. An SSR rail clock correction number quality factor real-time assessment apparatus, characterized in that the apparatus comprises: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a method for SSR rail clock correction number quality factor real-time assessment according to any of claims 1 to 7.
13. A computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method for real-time assessment of SSR rail clock correction quality factor according to any one of claims 1 to 7.
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