CN111123300A - Near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method and device - Google Patents
Near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method and device Download PDFInfo
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Abstract
The invention provides a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method and device. The invention integrates the technical advantages of various geodetic measurement means such as GNSS observation, a vertical surveying instrument, occultation detection and the like, and innovatively realizes three-dimensional large-range high-precision monitoring of an ionized layer. By utilizing the technical scheme of the invention, regional/global ionosphere electron density three-dimensional detection can be realized on the basis of the existing infrastructure. In view of the current global/Chinese GNSS station distribution density, and the vertical measuring instrument station and occultation event distribution, the invention can realize large-range high-precision three-dimensional ionosphere monitoring.
Description
Technical Field
The invention belongs to the field of ionosphere electron density three-dimensional monitoring, and particularly relates to a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method and device.
Background
In the whole earth circle layer system, the ionized layer is in a special position, enough free electrons are arranged in the ionized layer, the ionized layer and the magnetic layer are tightly coupled together through the electric coupling effect of large-scale field-oriented current, and the magnetic field change can trigger the global ionized layer disturbance with ultrahigh strength, so that destructive influence is caused on satellite communication, navigation, power transmission and the like. The ionized layer has strong repeated regular change and random disturbance change, particularly in a middle-low latitude area, and the ionized layer has strong electron density transmission in the vertical direction, so that the real-time three-dimensional monitoring and early warning of the electron density of the ionized layer are realized, the navigation positioning precision can be effectively improved, and the method has important significance for researching the space weather change mechanism. High power incoherent scattering radars can achieve electron density profiles over an area, but are very costly to build. The vertical measuring instrument and the occultation observation means can obtain a single-point overhead electron density vertical profile, but the factors of less station distribution of the global vertical measuring instrument, insufficient occultation data coverage time resolution and the like are considered, so that large-range continuous three-dimensional monitoring cannot be realized.
The Incoherent Scattering Radar (ISR) can also realize the layer-by-layer monitoring of the three-dimensional ionization in the region, and the ISR can also realize the monitoring of the parameters such as the electron temperature, the ion concentration/temperature and the like in the region. However, ISR is very expensive in manufacturing cost, is not feasible in global station repair at present, does not exceed 10 global stations at present, is distributed unevenly in the north and south hemispheres, and is an active detection mode, so that global real-time monitoring is difficult to realize.
The occultation detection and the vertical measurement instrument detection are ionosphere three-dimensional detection means, but the two means have the common disadvantage that single-point detection is realized, the space-time distribution is seriously insufficient, the occultation of single-day events of the occultation detection is limited, and the total number of the occultation detection stations which are globally distributed at present is only about 60. Therefore, global/regional wide-range real-time continuous monitoring still cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problems that the advantages of the existing satellite geodetic measurement and ground observation means are comprehensively utilized aiming at the difficult problem that the ionosphere electron density three-dimensional monitoring is difficult to realize large-range, continuous and real-time monitoring under the condition of low cost, the combination of single-point three-dimensional high-precision monitoring of observation means such as a vertical measuring instrument and the like and the GNSS large-range real-time continuous monitoring is realized through process innovation, the ionosphere electron density three-dimensional monitoring is realized on the basis of the existing observation equipment, and the method can realize full-automatic near real-time resolving.
The technical scheme of the invention provides a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method, which introduces a vertical profile of a single-point overhead ionosphere as constraint, introduces external three-dimensional ionosphere prior constraint information, and utilizes Kalman filtering and function-level ionosphere chromatography to realize high-precision large-range ionosphere electron density three-dimensional monitoring.
Moreover, the implementation process includes the following steps,
1) acquiring vertical profile information of electron density distribution of the ionized layer over a single point obtained by a vertical measuring instrument and occultation monitoring in a region range to be monitored, transmitting the vertical profile information to a data processing center in real time, and obtaining the electron density content TEC of the ionized layer in each layer range through layered integrationlayerFurther obtain the total electron density content TEC of each layer of electron density content in the height range of the ionized layertotalIs a percentage ofiono＝TEClayer/TECtotal；
2) Based on GNSS real-time data flow, estimating a two-dimensional GNSS VTEC of a region in real time, and correspondingly updating IRI IG parameters, wherein the VTEC represents the total electron content of a zenith ionosphere; obtaining prior IRI ionosphere model three-dimensional distribution information in the region after updating, selecting electron density three-dimensional contour information given by IRI ionosphere model over a single point in the region, and obtaining the ionized layer electron content TEC in each layer range through layered integrationlayerFurther obtain the total electron density content TEC of each layer of electron density content in the height range of the ionized layertotalIs a percentage ofIRI＝TEClayer/TECtotal；
3) Estimating GNSS STECs in the area range, and interpolating and estimating an electron content scale factor gamma of each layer at the position of each STEC observation value according to the results obtained in the step 1) and the step 2)inter；
4) Acquiring the position of each layer of puncture points according to the coordinates of the observation station, the coordinates of the satellite and the ionosphere layering information to form a resolving matrix, and bringing the resolving matrix into a function-level ionosphere chromatography model as shown in the following formula,
wherein, STECi(t) is ionospheric slant delay of ith propagation path, s is ray vector, t is time parameter, Ne (s, t) is along-line electron density function, PF100、PF200、…PF1900、PF2000Respectively represents the projection function TEC corresponding to each layer of 0-100m, 100-200m … 1800-1900m and 1900-2000m100、TEC200、…TEC1900、TEC2000Respectively represents the total electron content of the ionosphere of each layer of 0-100m, 100-200m … 1800 1900m and 1900-2000m, and h represents the height of the layered ionosphere;
5) and 4) on the basis of the function-level ionosphere chromatographic model in the step 4), utilizing Kalman filtering to successively solve electron density distribution information of each layer to obtain an ionosphere electron density three-dimensional monitoring result.
Further, the projection function is shown by the following formula,
wherein, PF is a projection function,
and R is the radius of the earth, R is 6371km, H is the ionosphere height, α is 0.9782, z' is the zenith distance of the receiver at the puncture point, and z is the zenith distance of the receiver for observing a satellite.
Furthermore, the total electron content of the ionosphere is calculated as shown in the following formula,
wherein TEC is total electron content of ionized layer in the layer, i and j are j orders and i times coefficient associated with Legendre function, n and m are maximum expansion degree of spherical harmonic function, Aij、a00、a01、a02、a03、a04As coefficients of a fitting function, s-s0＝(l-l0)+(t-t0)，s0Is the central point (b) of the measuring region0,l0) At the central time t of the period0Solar time angle of time, b0,l0The geographical latitude and longitude of the central point of the measuring area are shown, and b and l are the geographical latitude and longitude of the puncture point.
In step 5), moreover, the solution is implemented as follows,
in the formula, gammaiIs a scale factor for preliminarily characterizing the proportion of the electron density of each layer in the total electron density, f (A)0B, l) fitting function for characterizing TEC, AiFor each layer electron density distribution parameter to be estimated,
for corresponding parameter accuracy information after each adjustment, EiIs process noise.
The invention also provides a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring device which is used for executing the near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method.
The method has the outstanding advantages of near-real-time, high-precision, continuous and large-range ionosphere electron density three-dimensional monitoring, integrates the technical advantages of various geodetic measurement means such as GNSS observation, a vertical surveying instrument, occultation survey and the like, and can realize the ionosphere three-dimensional large-range high-precision monitoring through the innovation of the method. The technical problems of unstable resolving, low reliability and the like of the traditional chromatographic method are solved, and near real-time and continuous monitoring is realized.
In addition, based on the technical scheme of the invention, the regional/global ionosphere electron density three-dimensional detection can be realized on the basis of the existing infrastructure without additional capital investment, and in view of the global/Chinese current GNSS station distribution density, the vertical measuring instrument station and the occultation event distribution, the infrastructure construction is not required, and the large-range high-precision three-dimensional ionosphere monitoring can be realized by adopting the invention.
Drawings
FIG. 1 is a schematic diagram of a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the distribution of puncture points in each layer under the ionosphere layer model according to an embodiment of the present invention;
FIG. 3 is a graph showing the results of experiments at various time intervals according to the embodiment of the present invention, wherein FIG. 3a is a graph showing the results at 1 month, 7 and 0, FIG. 3b is a graph showing the results at 1 month, 7 and 6, FIG. 3c is a graph showing the results at 1 month, 7 and 12, FIG. 3d is a graph showing the results at 1 month, 7 and 18, FIG. 3e is a graph showing the results at 2 month, 1 and 0, FIG. 3f is a graph showing the results at 2 month, 1 and 6, FIG. 3g is a graph showing the results at 2 month, 1 and 12, FIG. 3h is a graph showing the results at 2 month, 1 and 18, FIG. 3i is a graph showing the results at 2 month, 18 and 0, FIG. 3j is a graph showing the results at 2 month, 18 and 6, FIG. 3k is a graph showing the results at 2 month, 18 and 12, and FIG. 3l is a graph showing the results. .
Detailed Description
The technical solution of the present invention is further described in detail below with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The invention considers that the basic establishment of national provincial CORS (continuous Satellite operation reference stations) is completed, the sites respectively established by each department are added, thousands of continuous reference sites are distributed in China continental land, more than 1 ten thousand continuous operation reference sites are distributed under the Global scale, and the continuous GNSS (Global Navigation Satellite System) data provided by the intensive reference sites can realize the real-time monitoring of the total electron density content of the ionized layer. The method integrates multi-satellite geodetic data and ground ionosphere monitoring data, utilizes the existing observation equipment, transmits observation data such as a vertical measuring instrument and the like to a data processing center in real time under the condition of low cost, combines GNSS real-time data flow, and realizes near-real-time, large-range and high-precision three-dimensional ionosphere electron density monitoring by a function chromatography and filtering method.
The embodiment of the invention provides a near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method, which comprehensively utilizes multi-class satellite geodetic measurement and space physical observation means to realize the advantage complementation of various technologies, and realizes near-real-time high-precision large-range ionosphere three-dimensional electron density monitoring without increasing equipment cost by technical process innovation and on the basis of the existing CORS, a plumb bob, a occultation and other data. The vertical measurement instrument, the occultation data and the like can obtain a relatively accurate ionospheric vertical profile over a single point, but the means are difficult to realize large-range observation, the GNSS has the advantages of large range, real time and continuous observation, but ionospheric three-dimensional distribution information cannot be accurately obtained, the novel method introduces the ionospheric vertical profile over the single point as constraint, realizes high-precision large-range ionospheric electron density three-dimensional monitoring by introducing external three-dimensional ionospheric priori constraint information and utilizing a Kalman filtering method and a function-level ionospheric chromatography method, realizes a near-real-time monitoring effect on the basis of optimizing the efficiency of the method, and solves the problem that the existing ionospheric electron density three-dimensional detection realizes large-range high-precision automatic monitoring with low cost.
Referring to fig. 1, there are:
① Ionosphere
② Occultation Event Occultation Event
③ STEC ionospheric ramp path delay
④ Δ STEC in a range of heights
⑤ Digisonde ionosphere verticality tester
⑥ GNSS Station
⑦VTECDigMeasurement of ionosphere verticality measuring instrumentIonospheric vertical path delay of
⑧ΔVTECDigVTEC in a certain height range
⑨ LEO low orbit satellite
The near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method provided by the embodiment comprises the following steps, and the specific steps are described as follows:
1) and acquiring the electron density three-dimensional distribution contour line of the measured data such as a vertical measuring instrument, a occultation and the like, and further estimating the percentage of the electron density distribution of each layer in the total electron density distribution.
Acquiring three-dimensional profile information of an ionized layer over a single point, which is obtained by observing data such as a vertical measuring instrument and a occultation in a region range to be monitored, transmitting the three-dimensional profile information to a data processing center in real time, and obtaining the electron density content TEC of the ionized layer in each layer (section) range through layered (segmented) integrationlayerFurther obtain the total electron content TEC of each layer of electron density content in the height range of the ionized layertotalIs a percentage ofiono＝TEClayer/TECtotal. In the examples, layered layer is 100km,200km, 2000 km.
2) And updating IRI IG parameters by utilizing GNSS VTEC, acquiring an accurate IRI three-dimensional model distribution contour line, and acquiring the percentage of electron density distribution of each layer in total electron distribution.
Estimating the Total Electron Content of a regional two-dimensional GNSS VTEC (Vertical Total Electron Content, zenith ionized layer) in real time; and updating an IRI IG parameter (IRI, International Reference Ionosphere, IG, Ionosphere index, used in the IRI model to characterize the Ionosphere state, wherein the IG index takes a 12-month average value and is a global value, and therefore is not accurate) to eliminate a system difference between the IRI parameter and the Ionosphere index, so that the VTEC calculated by using the IRI model and the GNSS VTEC are at the same order level. And after updating the IG, acquiring three-dimensional distribution information of the prior IRI ionosphere model in the region.
On the basis, the updated IRI model can be used for obtaining the electron density vertical profile information of partial single-point overhead ionosphere in the monitoring area, and the ionosphere in the range of each layer (section) is obtained through layer (section) integrationElectron content TEClayer(layer 100km,200km, 2000km), and then acquiring the total electron density content TEC of each layer with the electron density content accounting for the height range of the ionized layertotalIs a percentage ofIRI＝TEClayer/TECtotalDifferent from the proportional factor obtained in the previous step, the proportional factor obtained in the first step is obtained by integrating the actually measured data, the proportional factor obtained in the present step is obtained by integrating the updated prior model information, the accuracy is different, and the proportional factor obtained by the IRI model is mainly used for making up the influence caused by insufficient distribution of the actually measured observed data.
3) And estimating GNSS STEC in the area range, and primarily distributing the content of each layer according to the scale factor.
And estimating GNSS STEC (slope Total Electron Content, Total Electron Content of an ionized layer of an inclined path, or inclined delay of the ionized layer) in the region range, and interpolating and estimating the position of each STEC observation value and the proportion of each layer on the basis of the scale factors obtained by the two steps. The interpolation estimation refers to passing the scale factor gamma on the scattered point in the regionionoAnd gammaIRIInterpolating to obtain the proportional factor gamma of the electron content of each layer at different point positionsinterBecause the precision of the scale factor obtained by the measured data and the model is different, different weights P need to be added in the interpolation processionoAnd PIRIThe weight value is a priori value, and in actual use, 1:4 or 1:5 is preferably suggested.
4) And forming a resolving matrix and carrying into a chromatographic model.
Acquiring the position of each layer of puncture points according to the coordinates of an observation station, the coordinates of a satellite and ionosphere layering information to form a resolving matrix, bringing the resolving matrix into a function level ionosphere chromatography method, wherein the ionosphere chromatography method model based on the function level is shown as the following formula,
STECi(t) is ionospheric slant delay of ith propagation path, s is ray vector, t is time parameter, Ne (s, t) is function of electron density along line, hIndicating the delamination ionosphere height.
PF100、PF200、…PF1900、PF2000Respectively representing the projection functions corresponding to each layer of 0-100m, 100-200m … 1800-1900m and 1900-2000m, and the calculation can be layered according to the corresponding parameters by the following formula:
wherein, PF is a projection function,
and R is the radius of the earth, R is 6371km, H is the ionosphere height, α is 0.9782, z' is the zenith distance of the receiver at the puncture point, and z is the zenith distance of the receiver for observing a satellite.
TEC100、TEC200、…TEC1900、TEC2000Respectively represents the total electron content of the ionized layers of 0-100m, 100-200m … 1800-1900m and 1900-2000m, and the total electron content can be calculated according to the following formula according to the corresponding parameters:
wherein TEC is total electron content of ionized layer in the layer, i and j are j orders and i times coefficient associated with Legendre function, n and m are maximum expansion degree of spherical harmonic function, Aij、a00、a01、a02、a03、a04As coefficients of a fitting function, s-s0＝(l-l0)+(t-t0)，s0Is the central point (b) of the measuring region0,l0) At the central time t of the period0Solar time angle of time, b0,l0The geographical latitude and longitude of the central point of the measuring area are shown, and b and l are the geographical latitude and longitude of the puncture point.
5) And (4) utilizing a Kalman filtering method to successively solve the ionospheric distribution function of each layer.
On the basis of the function model, a Kalman filtering method is utilized, process noise is added, the electron density distribution function of each layer is calculated successively,
in the formula, gammaiUsing the scale factors obtained in steps 1) and 2) (i.e. gamma obtained in step 3)interCan be set before adjustment) for preliminary characterization of the proportion of the electron density of each layer in the total electron density, f (A)0B, l) fitting function for characterizing TEC, AiFor each layer electron density distribution parameter to be estimated,
for corresponding parameter accuracy information after each adjustment, EiIs process noise.
In the process, observation data such as the vertical measuring instrument and the like are transmitted to the data processing center in real time, and are subjected to certain data preprocessing to participate in calculation, and the IRI model is obtained through real-time calculation. The GNSS data volume is determined according to the number of continuous operation stations in the area range, is generally calculated at 30s sampling intervals, about 30 GNSS observation stations are uniformly distributed in the Chongqing city as an example, the data volume of 5 minutes is obtained by chromatography, the requirement of chromatography precision on the data volume is completely met, in addition, the time requirement of 1-2 minutes of data processing is calculated, and the time resolution of the three-dimensional ionosphere electron density monitoring means provided by the novel method is better than 10 minutes.
In specific implementation, the above process can be automatically operated by adopting a computer software technology. The device for operating the solution according to the invention should also be within the scope of protection.
The invention is further explained below in connection with specific measured data. The data is selected from 6 observation stations (RO041, DB049, EB040, JR055, PQ052 and EA036) of the vertical measuring instruments and 106 observation stations of the GNSS in European regions, wherein the data period is 2015, 2 months and 18 days, and UT00:00, UT03:00, UT06:00, UT09:00, UT12:00, UT15:00, UT18:00 and UT21:00 are selected.
Firstly, acquiring an electron density three-dimensional distribution contour line of actual measurement data such as a vertical measurement instrument, a occultation and the like, and acquiring the percentage of electron density distribution of each layer in total electron distribution. Table 1 gives UT12: and 00, ten layers of ionosphere scale factors calculated by 5 vertical measurement instrument observation stations, and PQ052 are used as check stations to be not involved in calculation and are used for independent check.
TABLE 1 percent of electron density per layer calculated by UT12:00 various plumbing stations (unit:%)
And secondly, updating IRI IG parameters by utilizing GNSS VTEC, acquiring an accurate IRI three-dimensional model distribution contour line, and acquiring the percentage of electron density distribution of each layer in total electron distribution.
TABLE 2 IRI TEC before and after update compared to GNSS TEC (Unit: TECU)
TABLE 3 Change in electronic Density ratio of IRI per layer before and after update (Unit:%)
And thirdly, estimating the GNSS STEC in the area range, wherein the STEC estimation can adopt an original phase smoothing pseudorange algorithm or a non-differential non-combination PPP algorithm to obtain the STEC sequence in the observation period, well record the satellite coordinates and the survey station coordinates, record the satellite coordinates and the survey station coordinates to a file for preparing for subsequent chromatography, and a GNSS STEC data file example is given in the following table 4.
TABLE 4 GNSS STEC data file example
And fourthly, forming a resolving matrix and bringing the resolving matrix into a chromatographic model. And calculating a coordinate sequence of each layer of puncture points according to the coordinate of the measuring station and the satellite coordinate, and bringing the coordinate sequence into a chromatographic model to form a resolving matrix, wherein a distribution schematic diagram of each layer of puncture points is shown in figure 2.
Among them are:
① Satellite
② Receiver GNSS Receiver
③ ProjFunc projection function
④ H ionosphere height
⑤ α opening angle of puncture point
⑥ Z receiver zenith distance to observation satellite
⑦ Z' is the zenith distance of the receiver at the puncture point
⑧ E zenith distance complementary angle
⑨ Ionosphere
And fifthly, utilizing a Kalman filtering algorithm to successively solve the ionospheric distribution function of each layer. FIG. 3 shows the comparison of the chromatographic results of three days UT00:00, UT06:00, UT12:00, UT18:00, in period 2015, month 1 and 7 (DOY7), year 2015, month 2 and 1 (DOY32), year 2015, month 2 and 18 (DOY49) with the results obtained from the independent PQ052 checkpoint.
The scale factors are given in the figure, the error statistics are all calculated by taking the total electron content as 60TECU, and when the scale factors are converted into the electron content, namely, the difference of the scale factors is 5 percent, which corresponds to the difference of TEC, which is 3.0 TECU. As can be seen from the figure:
(1) the proportional factor obtained by the chromatographic method is consistent with the proportional factor trend given by the measured data of the vertical measuring instrument, the ionosphere peak height can be accurately estimated and obtained by chromatography, and the numerical value of the proportional factor is relatively close; and the whole proportional factor obtained by the calculation of the IRI2016 model is lower than the chromatographic result and the actually measured data of the vertical measuring instrument, and the phenomenon of inconsistent ionospheric peak heights appears for many times.
(2) The difference value between the scale factor of the new chromatographic method and the actually measured data of the vertical measuring instrument is basically between-6% and 6%, namely between-3.6 TECU and 3.6TECU, and the maximum difference value is about +/-10%, namely +/-6 TECU.
(3) The IRI2016 proportional factor and the data difference value measured by a vertical measuring instrument have larger fluctuation which is basically between-20% and 10%, and the change trend of errors in each period is more consistent, namely the error is increased from the vicinity of 0 of the first layer to the maximum value of the layers 3 and 4, then is reduced to the minimum value of the layers 4 and 5, and finally is increased to the vicinity of 0 of the layer 6 to change in a broken line. Therefore, although the IRI has higher model precision in European regions from the global perspective, the error can reach 12TECU at most compared with the actual measurement result of the plumb bob measuring instrument.
The average, maximum, minimum and standard deviation of each layer were counted, and the results are shown in Table 5. This period of time does not participate in the calculations due to the absence of three stations, 12hRO041, JR055 and EA036 of DOY 49. As can be seen from the table, the average value of the difference between the new method and the verticality measuring instrument fluctuates around 0 and is distributed within +/-2%, namely +/-1.2 TECU; the maximum average value of the difference value between the IRI2016 and the verticality measuring instrument can reach-8.8 percent, namely-5.3 TECU. The maximum standard deviation of the difference value between the MFCIT2 and the plumb bob is located at the third layer and is 5.3 percent, namely 3.2 TECU; the standard deviation of the difference value between the IRI2016 and the verticality measuring instrument is 12.1 percent at most, and reaches 7.3TECU, which is more than twice of that of the new method. The maximum and minimum values of the new chromatographic method result and the difference value of the vertical measuring instrument are both positioned on the third layer and are consistent with the result in the figure 3.
TABLE 5 statistical results of mean, maximum, minimum and standard deviation of each layer
Experimental results show that the method has high reliability, and large-range and high-precision ionospheric vertical electron density distribution can be obtained by means of discretely distributed vertical measuring instrument stations. The method adopts the time resolution which is better than 5min, and the data acquisition and resolving time is less than 1min, so that the near-real-time ionosphere multi-dimensional distribution information can be obtained.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (6)
1. A near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method is characterized by comprising the following steps: the vertical profile of the ionized layer over the single point is introduced as constraint, and the three-dimensional monitoring of the electron density of the ionized layer in a high precision and large range is realized by introducing external three-dimensional ionized layer prior constraint information and utilizing Kalman filtering and function-level ionized layer chromatography.
2. The near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method according to claim 1, characterized in that: the implementation process comprises the following steps of,
1) acquiring vertical profile information of electron density distribution of the ionized layer over a single point obtained by a vertical measuring instrument and occultation monitoring in a region range to be monitored, transmitting the vertical profile information to a data processing center in real time, and obtaining the electron density content TEC of the ionized layer in each layer range through layered integrationlayerFurther obtain the total electron density content TEC of each layer of electron density content in the height range of the ionized layertotalIs a percentage ofiono＝TEClayer/TECtotal；
2) Based on GNSS real-time data flow, estimating a two-dimensional GNSS VTEC of a region in real time, and correspondingly updating IRI IG parameters, wherein the VTEC represents the total electron content of a zenith ionosphere; obtaining prior IRI ionosphere model three-dimensional distribution information in the region after updating, selecting electron density three-dimensional contour information given by IRI ionosphere model over a single point in the region, and obtaining the ionized layer electron content TEC in each layer range through layered integrationlayerFurther obtain the total electron density content TEC of each layer of electron density content in the height range of the ionized layertotalIs a percentage ofIRI＝TEClayer/TECtotal；
3) Estimating the GNSS STEC within the area and according to the stepsThe results obtained in the steps 1) and 2) are interpolated to estimate the electron content scale factor gamma of each layer at the position of each STEC observation valueinter；
4) Acquiring the position of each layer of puncture points according to the coordinates of the observation station, the coordinates of the satellite and the ionosphere layering information to form a resolving matrix, and bringing the resolving matrix into a function-level ionosphere chromatography model as shown in the following formula,
wherein, STECi(t) is ionospheric slant delay of ith propagation path, s is ray vector, t is time parameter, Ne (s, t) is along-line electron density function, PF100、PF200、…PF1900、PF2000Respectively represents the projection function TEC corresponding to each layer of 0-100m, 100-200m … 1800-1900m and 1900-2000m100、TEC200、…TEC1900、TEC2000Respectively represents the total electron content of the ionosphere of each layer of 0-100m, 100-200m … 1800 1900m and 1900-2000m, and h represents the height of the layered ionosphere;
5) and 4) on the basis of the function-level ionosphere chromatographic model in the step 4), utilizing Kalman filtering to successively solve electron density distribution information of each layer to obtain an ionosphere electron density three-dimensional monitoring result.
3. The near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method according to claim 2, characterized in that:
the projection function is shown as follows,
wherein, PF is a projection function,
r is the radius of the earth, R is 6371km, H is the ionosphere height, α is 0.9782, z' is the zenith distance of the receiver at the puncture point,z is the zenith distance over which the receiver observes the satellite.
4. The near-real-time large-range high-precision ionosphere electron density three-dimensional monitoring method according to claim 2, characterized in that: the total ionospheric electron content is calculated as shown below,
wherein TEC is total electron content of ionized layer in the layer, i and j are j orders and i times coefficient associated with Legendre function, n and m are maximum expansion degree of spherical harmonic function, Aij、a00、a01、a02、a03、a04As coefficients of a fitting function, s-s0＝(l-l0)+(t-t0)，s0Is the central point (b) of the measuring region0,l0) At the central time t of the period0Solar time angle of time, b0,l0The geographical latitude and longitude of the central point of the measuring area are shown, and b and l are the geographical latitude and longitude of the puncture point.
5. The near-real-time large-range high-precision ionospheric electron density three-dimensional monitoring method of claim 2, 3 or 4, wherein: in step 5), the solution is implemented as follows,
STECγ1(0≤γ1≤1)
First Step
Second Step
.....
Last Step
in the formula, gammaiIs a scale factor for preliminarily characterizing the proportion of the electron density of each layer in the total electron density, f (A)0B, l) fitting function for characterizing TEC, AiFor each layer electron density distribution parameter to be estimated,
for corresponding parameter accuracy information after each adjustment, EiIs process noise.
6. The utility model provides a near real-time high accuracy ionosphere electron density three-dimensional monitoring devices on a large scale which characterized in that: for performing a near real-time wide-range high-precision ionospheric electron density three-dimensional monitoring method as claimed in claims 1-5.
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