CN114296104A - Integrity monitoring method and device for satellite system positioning data and storage medium - Google Patents
Integrity monitoring method and device for satellite system positioning data and storage medium Download PDFInfo
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Abstract
The application discloses a method and a device for monitoring integrity of satellite system positioning data and a computer storage medium, wherein the method comprises the following steps: acquiring a first observation value corresponding to pseudo range of a plurality of satellites at least one frequency point and a second observation value corresponding to a carrier phase contained in different satellite systems; calculating and obtaining corresponding positioning data according to the first observation value and the second observation value; according to the first observation value and the second observation value, integrity monitoring is carried out on the positioning data according to a preset strategy so as to obtain integrity monitoring information; wherein the preset strategy comprises: and carrying out hierarchical monitoring on the positioning data, and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy. Therefore, the positioning data are subjected to hierarchical monitoring, and the integrity monitoring result of the previous hierarchy is used as the input for integrity monitoring of the next hierarchy, so that the calculation amount can be reduced, and the data quality is improved.
Description
Technical Field
The invention relates to the technical field of satellites, in particular to a method and a device for monitoring integrity of satellite system positioning data and a computer storage medium.
Background
The integrity is one of four navigation performance index parameters proposed by the international civil aviation organization, and is also a performance index which has the closest relation with the reliability and safety of the positioning navigation technology in different application scenes. The completeness reflects the capability of the navigation technology for timely warning a user when a fault occurs and the navigation technology cannot reach the preset technical index and cannot be used for navigation service. In the course of correcting data product generation, integrity monitoring systems or methods have become an essential module for high-precision location providers. The integrity of the data product is a direct quantification mode of the product confidence level, and aims to promise the service safety standard and the reliability to the user and is necessary information for terminal positioning integrity evaluation. In the past data production process, much attention of the service providers and users has been focused on the accuracy and continuity of the service. For different data correction products, the integrity information and quality identifier of the data product are typically given independently using the inter-fit accuracy in the parameter estimation or the residual in the state transfer. However, the above approach ignores the coupling relationship between different data correction products, resulting in a waste of computing power of the system.
Disclosure of Invention
The method and the device for monitoring the integrity of the satellite system positioning data and the computer storage medium have the advantages that the calculation amount can be reduced and the data quality can be improved by carrying out hierarchical monitoring on the positioning data and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy.
In order to achieve the above purpose:
in a first aspect, an embodiment of the present application provides a method for integrity monitoring of positioning data of a satellite system, where the method includes the following steps:
acquiring a first observation value corresponding to pseudo range of a plurality of satellites at least one frequency point and a second observation value corresponding to a carrier phase contained in different satellite systems;
calculating and obtaining corresponding positioning data according to the first observation value and the second observation value;
according to the first observation value and the second observation value, integrity monitoring is carried out on the positioning data according to a preset strategy so as to obtain integrity monitoring information; wherein the preset strategy comprises: and carrying out hierarchical monitoring on the positioning data, and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy.
Optionally, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information includes:
dividing the positioning data calculated by each satellite system into three levels for integrity monitoring; the first level comprises satellite orbit correction, satellite clock error correction and code error correction, the second level comprises phase error correction, and the third level comprises troposphere delay correction and ionosphere delay correction;
monitoring the integrity of the first level based on the first observation value and the second observation value, and calculating and obtaining the integrity information of orbital clock errors and the integrity information of code deviations of a plurality of satellites included in the satellite system;
integrity monitoring is carried out on the second hierarchy based on the first observation value, the second observation value, the orbit clock error integrity information and the code deviation integrity information, and phase deviation integrity information of each satellite is obtained;
and monitoring the integrity of the region of the third-level data product corresponding to the user based on the first observation value, the second observation value, the orbit clock error integrity information, the code deviation integrity information and the phase deviation integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
Optionally, the performing integrity monitoring on the first level based on the first observation value and the second observation value, and calculating to obtain orbital clock error integrity information and code bias integrity information of a plurality of satellites included in the satellite system includes:
acquiring satellite orbit correction data, satellite clock error correction data and code deviation correction data of each satellite contained in the satellite system according to the first observation value and the second observation value;
respectively carrying out orbit clock error integrity monitoring and code error integrity monitoring on each satellite according to the satellite orbit correction data, the satellite clock error correction data and the code error correction data to obtain orbit clock error integrity information and code error integrity information of each satellite;
the integrity monitoring the second hierarchy based on the first observation value, the second observation value, the orbit clock error integrity information, and the code bias integrity information to obtain the phase bias integrity information of each satellite includes:
calculating phase deviation correction data of each satellite according to the satellite orbit correction data, the satellite clock deviation correction data, the code deviation correction data, the orbit clock deviation integrity information and the code deviation integrity information;
respectively carrying out phase deviation integrity monitoring on each satellite according to the phase deviation correction data and the first observation value and the second observation value to obtain phase deviation integrity information of each satellite;
the integrity monitoring of the area where the third-tier data product corresponds to the user is performed based on the first observation value, the second observation value, the orbital clock error integrity information, the code bias integrity information, and the phase bias integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite includes:
calculating a regional troposphere delay model and a regional ionosphere delay model of each satellite according to the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the phase deviation correction data, the orbit clock error integrity information, the code deviation integrity information and the phase deviation integrity information;
and respectively carrying out troposphere delay integrity monitoring and ionosphere delay integrity monitoring on each satellite according to the first observation value and the second observation value, the regional troposphere delay model and the regional ionosphere delay model, and obtaining the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
Optionally, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes:
if the integrity information of a positioning data of the previous level shows that the positioning data of the previous level does not pass, determining a satellite corresponding to the positioning data which does not pass in the previous level when calculating the positioning data of the next level, and setting the integrity information of other positioning data corresponding to the satellite as not pass;
if the integrity information of a certain level of data in the previous level is not monitored, when the positioning data in the next level is calculated, the non-monitored positioning data in the previous level is subjected to weight reduction processing.
Optionally, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes:
recording the generation time of the positioning data;
and when the integrity information of the positioning data is determined not to be acquired within a preset time period after the generation time of the positioning data, setting the integrity information of the positioning data as unmonitored.
Optionally, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes:
counting integrity information of each satellite contained in the satellite system for each level of positioning data;
if the integrity information of the positioning data of the target level shows that the number of the failed satellites is larger than a preset number threshold, setting an alarm identifier of the satellite system about the positioning data of the target level as failed, and rejecting the first observation value, the second observation value and the positioning data of the target level.
Optionally, the method further comprises:
if the integrity information of the positioning data of the next hierarchy has been calculated based on the positioning data of the target hierarchy, setting an alarm identifier of the satellite system with respect to the positioning data of the next hierarchy as failed.
Optionally, the method further comprises:
and coding and broadcasting the satellite orbit correction data, the satellite clock error correction data, the code error correction data, the phase error correction data, the regional troposphere delay model, the regional ionosphere delay model, the corresponding orbit clock error integrity information, the code error integrity information, the phase error integrity information, the regional troposphere delay model integrity information and the regional ionosphere delay model integrity information according to a preset mode.
In a second aspect, an embodiment of the present application provides an integrity monitoring apparatus for positioning data of a satellite system, which performs the above method, including: the system comprises a processor and a memory storing a computer program, and when the processor runs the computer program, the method for monitoring the integrity of the positioning data of the satellite system is realized.
In a third aspect, an embodiment of the present application provides a computer storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for monitoring integrity of positioning data of a satellite system performs the steps of the method for monitoring integrity of positioning data of a satellite system.
The embodiment of the application provides a method, a device and a computer storage medium for integrity monitoring of satellite system positioning data, wherein the method comprises the following steps: acquiring a first observation value corresponding to pseudo range of a plurality of satellites in different satellite systems at least one frequency point and a second observation value corresponding to a carrier phase; calculating to obtain corresponding positioning data according to the first observation value and the second observation value; according to the first observation value and the second observation value, integrity monitoring is carried out on the positioning data according to a preset strategy so as to obtain integrity monitoring information; wherein the preset strategy comprises: and carrying out hierarchical monitoring on the positioning data, and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy. Therefore, the calculation amount can be reduced and the data quality can be improved by carrying out hierarchical monitoring on the positioning data and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy.
Drawings
Fig. 1 is a schematic flowchart illustrating a method for monitoring integrity of positioning data of a satellite system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an integrity monitoring system for positioning data of a satellite system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a process of calculating integrity information of track clock errors according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the calculation of code deviation integrity information according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a process for calculating integrity information of phase deviation according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an integrity monitoring apparatus for positioning data of a satellite system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, in this document, 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, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where elements, features, or elements that are similarly named in different embodiments of the present application may or may not have the same meaning, the particular meaning should be determined by their interpretation in the particular embodiment or by their context in further detail in connection with the particular embodiment.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination", depending on the context. Further, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to be performed in the exact order illustrated and may be performed in other orders unless explicitly stated. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or other steps.
It should be noted that step numbers such as S101 and S102 are used herein for the purpose of more clearly and briefly describing the corresponding contents, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S102 first and then perform S101 in the specific implementation, but these shall be within the protection scope of the present application.
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.
Referring to fig. 1, in order to provide the integrity monitoring method for positioning data of a satellite system according to the embodiment of the present application, the integrity monitoring method for positioning data of a satellite system may be executed by the integrity monitoring apparatus for positioning data of a satellite system according to the embodiment of the present application, and the integrity monitoring apparatus for positioning data of a satellite system may be implemented in a software and/or hardware manner, and the integrity monitoring method for positioning data of a satellite system according to the embodiment includes the following steps:
step S101: acquiring a first observation value corresponding to pseudo range of a plurality of satellites at least one frequency point and a second observation value corresponding to a carrier phase contained in different satellite systems;
the satellite system can be one or more of a Beidou satellite navigation system, a Galileo system, a GPS system and a Glonass system, and the satellites can be a plurality of satellites, such as five satellites, eight satellites and the like, contained in one or more satellite systems. The obtaining of the first observation value corresponding to the pseudo range of the multiple satellites at the at least one frequency point and the second observation value corresponding to the carrier phase included in the different satellite systems may be a method in which a slave station network, that is, a base station, receives the first observation value corresponding to the pseudo range of the multiple satellites at the at least one frequency point and the second observation value corresponding to the carrier phase included in the different satellite systems.
Step S102: calculating according to the first observation value and the second observation value to obtain corresponding positioning data;
it should be noted that the corresponding positioning data obtained by calculation according to the first observation value and the second observation value may include positioning data obtained by calculation of each satellite system individually and positioning data obtained by calculation of a plurality of satellite systems together.
Step S103: according to the first observation value and the second observation value, integrity monitoring is carried out on the positioning data according to a preset strategy so as to obtain integrity monitoring information; wherein the preset strategy comprises: and carrying out hierarchical monitoring on the positioning data, and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy.
Specifically, dividing positioning data calculated by each satellite system into three levels for integrity monitoring; the first level comprises satellite orbit correction, satellite clock error correction and code deviation correction, the second level comprises phase deviation correction, and the third level comprises troposphere delay correction and ionosphere delay correction;
monitoring the integrity of the first level based on the first observation value and the second observation value, and calculating and obtaining the integrity information of orbital clock errors and the integrity information of code deviations of a plurality of satellites included in the satellite system;
integrity monitoring is carried out on the second hierarchy based on the first observation value, the second observation value, the orbit clock error integrity information and the code deviation integrity information, and phase deviation integrity information of each satellite is obtained;
and monitoring the integrity of the region of the third-level data product corresponding to the user based on the first observation value, the second observation value, the orbit clock error integrity information, the code deviation integrity information and the phase deviation integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
As can be understood, due to the coupling relation among different positioning data, the integrity of the different positioning data can be monitored in a grading mode, and the integrity information obtained by calculation of each grade is used as the input of calculation of the next grade, so that the found faults can be eliminated, and the calculation amount is reduced. The positioning data referred to in this application refers to data for assisting positioning, and does not include, but is not limited to, satellite orbit correction data, satellite clock error correction data, code bias correction data, phase bias correction data, and the like. In addition, according to different purposes of integrity monitoring on the positioning data, other modes can be adopted to carry out different hierarchical division on the positioning data.
In an embodiment, said performing integrity monitoring on said first level based on said first observation and said second observation to obtain orbital clock error integrity information and code bias integrity information of a plurality of satellites included in said satellite system comprises:
calculating satellite orbit correction data, satellite clock error correction data and code deviation correction data of each satellite contained in the satellite system according to the first observation value and the second observation value;
respectively carrying out orbit clock error integrity monitoring and code error integrity monitoring on each satellite according to the satellite orbit correction data, the satellite clock error correction data and the code error correction data to obtain orbit clock error integrity information and code error integrity information of each satellite;
the integrity monitoring the second hierarchy based on the first observation value, the second observation value, the orbit clock error integrity information, and the code bias integrity information to obtain the phase bias integrity information of each satellite includes:
calculating phase deviation correction data of each satellite according to the satellite orbit correction data, the satellite clock deviation correction data, the code deviation correction data, the orbit clock deviation integrity information and the code deviation integrity information;
respectively carrying out phase deviation integrity monitoring on each satellite according to the phase deviation correction data and the first observation value and the second observation value to obtain phase deviation integrity information of each satellite;
the integrity monitoring of the area where the third-tier data product corresponds to the user is performed based on the first observation value, the second observation value, the orbital clock error integrity information, the code bias integrity information, and the phase bias integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite includes:
calculating a regional troposphere delay model and a regional ionosphere delay model of each satellite according to the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the phase deviation correction data, the orbit clock error integrity information, the code deviation integrity information and the phase deviation integrity information;
and respectively carrying out troposphere delay integrity monitoring and ionosphere delay integrity monitoring on each satellite according to the first observation value and the second observation value, the regional troposphere delay model and the regional ionosphere delay model, and obtaining the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
Here, for each of the satellite systems, satellite orbit correction data of each of the satellites may be generated based on broadcast ephemeris from a first observation value corresponding to pseudo ranges of a plurality of satellites included in the satellite system at least one frequency point and a second observation value corresponding to a carrier phase, and then satellite clock difference correction data of each of the satellites may be generated based on broadcast ephemeris from the first observation value, the second observation value, and the satellite orbit correction data. Meanwhile, code deviation correction data corresponding to the first observation value corresponding to the pseudo-range of different codes can be calculated according to the first observation value and the second observation value. It should be noted that in the present application, integrity evaluation is not performed on satellite orbit correction data or satellite clock error correction data separately, but performed by projecting error vectors of satellite orbits and satellite clocks to a user and a satellite connection direction. And respectively monitoring the code deviation integrity of each satellite according to the code deviation correction data and the first observation value so as to obtain the code deviation integrity information of each satellite.
The phase deviation correction data of each satellite is calculated according to the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the orbit clock error integrity information and the code deviation integrity information, the phase deviation correction data of each satellite is calculated according to the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the orbit clock error integrity information, the code deviation integrity information, the first observation value and the second observation value, the phase deviation correction data of each satellite is calculated, and the phase deviation integrity information of each satellite is acquired according to the phase deviation correction data, the first observation value and the second observation value. According to the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the phase deviation correction data, the orbit clock error integrity information, the code deviation integrity information, the phase deviation integrity information, the first observation value and the second observation value, a regional troposphere delay model and a regional vertical or oblique ionosphere delay model (namely, a regional ionosphere delay model) of each satellite can be calculated, and further, the regional troposphere delay model integrity information and the regional ionosphere delay model integrity information of each satellite can be obtained by combining the first observation value and the second observation value.
It should be noted that, in the present application, the identifier of the integrity information has three states, i.e., "pass", "fail", and "unmonitored", respectively. Because the integrity information can represent the confidence of the positioning data, the discovered faults can be eliminated based on the integrity information, and therefore the calculation amount is reduced and the data quality is improved. In an embodiment, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes: if the integrity information of a positioning data of the previous level shows that the positioning data of the previous level does not pass, determining a satellite corresponding to the positioning data which does not pass in the previous level when calculating the positioning data of the next level, and setting the integrity information of other positioning data corresponding to the satellite as not pass; if the integrity information of the positioning data of the previous layer is not monitored, when the positioning data of the next layer is calculated, the power of the positioning data which is not monitored in the previous layer is reduced. It can be understood that, for any satellite, if the integrity information of a positioning data of a previous level shows that the positioning data of the previous level fails, when calculating the positioning data of the next level, the satellite corresponding to the positioning data that the previous level fails to pass is determined, and the integrity information of other positioning data corresponding to the satellite is set as failed, that is, when calculating the positioning data of the next level, the other positioning data of the satellite corresponding to the positioning data that the previous level fails to pass is not considered. For example, if the obtained code bias integrity information shows failed after the code bias integrity monitoring is performed on a certain satellite, the corresponding code bias correction data is not used when the phase bias correction data of the certain satellite is calculated. For any satellite, if the integrity information of a positioning data of a previous level is not monitored, when the positioning data of a next level is calculated, the unmonitored positioning data of the previous level is subjected to weight reduction processing, namely, when the positioning data of the next level is calculated, the influence of the unmonitored positioning data of the previous level on the positioning data of the previous level is reduced. For example, if the obtained code bias integrity information shows that it is not monitored after the code bias integrity is monitored for a certain satellite, the weight of the corresponding code bias correction data is reduced when the phase bias correction data of the certain satellite is calculated. Thus, the amount of calculation can be further reduced, and the calculation time can be reduced.
In an embodiment, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes:
recording the generation time of the positioning data;
and when the integrity information of the positioning data is determined not to be acquired within a preset time period after the generation time of the positioning data, setting the integrity information of the positioning data as unmonitored.
It can understand, is generating behind the locating data, just record the time of generation of locating data, can begin to calculate simultaneously the integrity information of locating data, if do not acquire in the predetermined duration after the time of generation of locating data the integrity information of locating data, promptly the time of generation of locating data with the interval of the time of generation of the integrity information of locating data exceeds predetermined duration, then will the integrity information of locating data is set as unmonitored, and simultaneously can be earlier right the locating data is carried out the code and is broadcast, treats after the integrity information calculation of locating data is accomplished, broadcasts to the user with independent message the integrity information of locating data. Therefore, the timeliness of the data is ensured by monitoring the time interval between the data and the corresponding integrity information and controlling the longest waiting time of the data so as to use the corresponding broadcasting strategy.
In an embodiment, the performing integrity monitoring on the positioning data according to a preset policy according to the first observation value and the second observation value to obtain integrity monitoring information further includes:
counting integrity information of each satellite contained in the satellite system for each level of positioning data;
if the integrity information of the positioning data of the target level shows that the number of the failed satellites is larger than a preset number threshold, setting an alarm identifier of the satellite system about the positioning data of the target level as failed, and rejecting the first observation value, the second observation value and the positioning data of the target level.
It is understood that the integrity information of the positioning data of each satellite included in the satellite system for each level can be counted in real time, such as counting the integrity information of the positioning data of each satellite included in the satellite system for the first level, the second level and the third level, to obtain whether the integrity information of the positioning data of the satellites for the first level, the second level and the third level respectively shows as failed, if in the satellite system, integrity information for positioning data of a target hierarchy shows that the number of failed satellites is greater than a preset number threshold, the alert identifier of the satellite system with respect to the target tier's positioning data is set to fail, and rejecting the first observation, the second observation and the positioning data of the target level of the satellite system. The number threshold may be set according to actual requirements, for example, may be set to be one-half of the number of satellites included in the satellite system. Therefore, an independent monitoring logic is established for the satellite system level fault, the system level fault is discovered in time, the continuous output of a data product is ensured, and the data quality is further improved.
In one embodiment, the method further comprises:
if the integrity information of the positioning data of the next hierarchy has been calculated based on the positioning data of the target hierarchy, setting an alarm identifier of the satellite system with respect to the positioning data of the next hierarchy as failed.
It is to be understood that, since the integrity information of the positioning data of the next level of the target hierarchy is calculated based on the positioning data of the target hierarchy and the corresponding integrity information, when the alarm identifier of the satellite system with respect to the positioning data of the target hierarchy is set to fail, it indicates that there is a risk in the positioning data of the target hierarchy, and therefore, if the integrity information of the positioning data of the next level is calculated based on the positioning data of the target hierarchy before the alarm identifier of the satellite system with respect to the positioning data of the target hierarchy is set to fail, the alarm identifier of the satellite system with respect to the positioning data of the next level is set to fail, thereby further improving the data quality.
In one embodiment, the method further comprises:
and coding and broadcasting the satellite orbit correction data, the satellite clock error correction data, the code error correction data, the phase error correction data, the regional troposphere delay model, the regional ionosphere delay model, the corresponding orbit clock error integrity information, the code error integrity information, the phase error integrity information, the regional troposphere delay model integrity information and the regional ionosphere delay model integrity information according to a preset mode.
The preset mode can be set according to actual needs, for example, after any positioning data is acquired, if integrity information corresponding to the positioning data is acquired within a preset time, the positioning data and the integrity information corresponding to the positioning data can be combined and then coded and broadcast; if the integrity information corresponding to the positioning data is not acquired within a preset time, the positioning data can be coded and broadcasted first, and after the integrity information corresponding to the positioning data is acquired, the integrity information corresponding to the positioning data is coded and broadcasted. For example, after the phase deviation correction data is generated, the generation of the phase deviation integrity information is waited, and if the calculation of the phase deviation integrity information is completed within the maximum time delay, the phase deviation correction data and the phase deviation integrity information are merged and then encoded and broadcast; if the calculation of the integrity information of the phase deviation is not completed within the maximum time delay, the phase deviation correction data is firstly coded and broadcast after the maximum time delay is reached, and the integrity information of the phase deviation is coded and broadcast after the calculation of the integrity information of the phase deviation is completed. Therefore, according to different scenes, the positioning data and the corresponding integrity information are sent to the user through different broadcasting modes, and the timeliness of the data is guaranteed.
In summary, in the method for monitoring integrity of positioning data of a satellite system provided in the above embodiment, the positioning data is monitored in a hierarchical level, and the result of monitoring integrity of the previous level is used as an input for monitoring integrity of the next level, so that the amount of calculation can be reduced, and the data quality can be improved.
Based on the same inventive concept of the foregoing embodiments, the foregoing embodiments are described in detail below by a specific example, and the product in this example can be understood as data.
Referring to fig. 2, a schematic structural diagram of the integrity monitoring system for satellite system positioning data provided in this embodiment includes a data product calculating module, an integrity monitoring module, and a product broadcasting platform; the data product calculation module is used for satellite orbit correction calculation, satellite clock error correction calculation, code deviation correction calculation, phase deviation correction calculation, troposphere delay calculation and ionosphere delay calculation; the integrity monitoring module is used for evaluating the integrity of orbital clock error, evaluating the integrity of code deviation, evaluating the integrity of phase deviation, evaluating the integrity of troposphere delay and evaluating the integrity of ionosphere delay; the product broadcasting platform is used for coding and broadcasting the received high-precision positioning data product and the integrity information according to the format content of the user interface control protocol; wherein the content of the first and second substances,
satellite orbit correction calculation, specifically to the observation values of a receiving station network, including the pseudo-range of multi-frequency points of a multi-satellite system and the observation quantity of carrier phases, and generating a precise orbit correction product calculated based on a broadcast ephemeris;
satellite clock error correction calculation, specifically to the observation values of a receiving station network, including the observation quantities of pseudo-ranges and carrier phases of multiple system multiple frequency points, and generating a precise satellite clock error correction product based on a broadcast ephemeris by using the calculated precise orbit correction number;
code deviation correction calculation, specifically to the observed values of the receiving station network, including the observed quantities of pseudo-ranges and carrier phases of multiple system multiple frequency points, and to calculate code deviation correction products corresponding to the pseudo-range observed quantities of different codes;
phase deviation correction calculation, specifically to the observed value of the receiving station network, inputting the data correction product and the product integrity information of the first level, and calculating the phase deviation correction product on each frequency point of each satellite;
tropospheric delay calculation, specifically, receiving an observed value of a station network, inputting data correction products and product integrity information of the first two levels, and calculating an regional tropospheric delay correction model;
ionospheric delay calculation, specifically to receive an observed value of a station network, input data correction products and product integrity information of the first two levels, and calculate a regional vertical/oblique ionospheric correction model;
evaluating the integrity of the orbit clock error, specifically, not evaluating the integrity of the orbit correction or the satellite clock error correction independently, but projecting error vectors of the satellite orbit and the satellite clock to the connection direction of a user and a satellite to evaluate the integrity;
code deviation integrity evaluation, specifically inputting a code deviation correction product obtained by calculation, receiving a pseudo-range observation value of a station network, and generating code deviation integrity information;
evaluating the integrity of the phase deviation, specifically inputting a phase deviation correction product obtained by calculation, receiving a pseudo range of a station network and a carrier phase observation value, and generating phase deviation integrity information;
evaluating the delay integrity of the troposphere, specifically inputting a calculated regional troposphere model, receiving a pseudo range and a carrier phase observation value of a station network, and generating troposphere delay integrity information;
and (3) evaluating the integrity of the ionospheric delay, specifically, inputting a region ionospheric model obtained by calculation, receiving a pseudo range and a carrier phase observation value of a station network, and generating information of the integrity of the ionospheric delay.
The integrity information of each product corresponds to an identifier having three states: "pass", "fail", "no monitoring". The system alarm identifier characterizes the data risk level of each satellite system, again in three states: "pass", "fail", "no monitoring".
T in fig. 2 represents the time of generation of the data product or the data product with integrity information. In order to ensure the timeliness of the data, the generation time difference of the data product and the integrity information must meet the following restriction:
tdata, integrity-tData of<Tt
In the above formula, TtAnd the maximum time delay threshold value representing the integrity information and the corresponding data product is obtained by calculating the time delay through the statistical integrity module. After production of the data product, at TtThe time spent in the program waiting for integrity information. And within the maximum time delay, if the integrity information is calculated, merging and broadcasting the data product and the integrity information. And if the timing in the program reaches the maximum time delay, setting the integrity identifier of the data product to be 'unmonitored', and enabling the data product to enter a broadcasting module. And after the integrity information is calculated, broadcasting the integrity information to the user by using an independent message.
The innovation of the application is as follows: after the integrity information calculation is completed, the integrity information is merged with the data product to be used as an input quantity to enter the data product calculation of the next level. The following focuses on the calculation process of entering the next level of the orbital clock error integrity information, the code bias integrity information and the phase bias integrity information, which corresponds to the data flow direction between different levels in fig. 2.
Referring to fig. 3, a schematic diagram of a calculation process of the integrity information of the orbital clock error is shown, and the input quantities of the integrity monitoring of the orbital clock error are observed quantities of the station network, satellite orbit correction products and satellite clock error correction. Firstly, inputting an input data stream into a track clock error integrity monitor represented by a diamond frame, acquiring track clock error integrity monitoring statistics by the track clock error integrity monitor, judging whether the track clock error integrity monitoring statistics is larger than a monitoring threshold of the track clock error statistics, and executing corresponding processing according to a judgment result:
if the monitoring statistic of the integrity of the orbit clock error is less than or equal to the monitoring threshold of the set statistic of the orbit clock error, setting the identifier of the integrity of the orbit clock error as 'pass', and calculating the phase deviation of satellite orbit correction and satellite clock error correction entering a second level;
and if the track clock error integrity monitoring statistic is larger than the set threshold value of the track clock error statistic, setting the track clock error integrity identifier as 'failed'. Because the error correction of the faulty orbit clock error can cause the serious consequences of sudden increase of positioning error, filtering divergence and the like in high-precision positioning algorithms of different levels, the orbit clock error correction products which do not pass the integrity monitoring are removed before the phase deviation calculation. Assuming that the calculation result of the integrity information is later than the input of the orbit clock error data product of the next level, the satellite number of the fault orbit clock error correction product is extracted, and after the phase deviation calculation is finished, phase deviation integrity identifiers corresponding to the satellites are set as 'failed';
if no cycle clock integrity monitoring statistic is generated or the calculated time exceeds the maximum delay time described above, the cycle clock integrity identifier is set to "not monitored". In the phase deviation calculation of the next level, the observed value and the orbit clock difference correction value of the corresponding satellite are subjected to weight reduction processing, and the reliability of the calculation result is improved.
For system alarm monitoring, the principle is to Count the number Count (| Δ | > T) of satellites which do not pass integrity monitoring in a single satellite system, and compare the number Count with a set threshold N, that is, determine whether the following system alarm formula is true:
Count(|Δ|>T)>N
if the number of satellites which do not pass the integrity monitoring is larger than a set threshold value, generally more than half of the satellites visible in the satellite system, the integrity information of all the orbital clock correction products of the system is set as 'failed'. Before inputting the next level, the observation value and orbital clock error correction data of the alarm satellite system are removed. Assuming that the phase offset using the system observations and the orbital clock correction has been calculated, the phase offset integrity information for the satellite system is set to "failed".
Referring to fig. 4, which is a schematic diagram of a calculation flow of code bias integrity information, data product calculation and integrity monitoring of code bias are also in the first level, but compared to an orbital clock bias correction product, accuracy improvement of a positioning result by the code bias correction product mainly acts on pseudo-range observed quantity, and thus the processing is slightly different. The input quantity of code deviation integrity monitoring is pseudo-range observed quantity of a station network and a code deviation correction product, an input data stream firstly enters a code deviation integrity monitor represented by a diamond box, the code deviation integrity monitor outputs code deviation integrity monitoring statistic, and whether the code deviation integrity monitoring statistic is larger than a monitoring threshold of the code deviation statistic is judged. Here, considering that the noise of the pseudorange observation is on the order of meters, the monitoring threshold corresponding to the code bias integrity monitor is set to a large value.
And if the code deviation integrity monitoring statistic is smaller than or equal to the set monitoring threshold value of the code deviation statistic, setting the code deviation integrity identifier as 'pass' and calculating the phase deviation of the code deviation correction product entering a second level.
And if the code deviation integrity monitoring statistic is larger than the set monitoring threshold of the code deviation statistic, setting the code deviation integrity identifier as 'failed'. At this time, the observation value corresponding to the code deviation correction product can be reduced or the code deviation correction product is not used according to the actual situation.
If the code bias integrity monitor statistic is not generated or the computation time exceeds the maximum delay as described above, the code bias integrity identifier is set to "not monitored". In the phase deviation calculation of the next level, the observed value and the code deviation correction value of the corresponding satellite are subjected to weight reduction processing.
And similarly, carrying out system alarm monitoring on the code deviation by using a system alarm formula, and if the code deviation correction product which does not pass the integrity monitoring exceeds a threshold value, indicating that most observed values of the system are abnormal, and setting a system alarm identifier as 'failed'. The integrity information of all code deviation correction products of the system is set as 'fail'. And before inputting the next hierarchy, eliminating observation value and code deviation correction data of the alarm satellite system. Assuming that the phase offset using the system observations and code offset corrections has been calculated, the phase offset integrity flag for the satellite system is "failed".
Referring to fig. 5, a schematic diagram of a calculation flow of phase deviation integrity information is shown, the calculation and integrity monitoring of a data product of a phase deviation are located at a second level, the input quantity of the phase deviation integrity monitoring is observed quantity of a station network, integrity information of a satellite orbit correction product, a satellite clock error correction product, a code deviation correction product and a corresponding data product obtained by calculating at a previous level, an input data stream firstly enters a phase deviation integrity monitor represented by a diamond frame, the phase deviation integrity monitor outputs a phase deviation integrity monitoring statistic, and judges whether the phase deviation integrity monitoring statistic is greater than a monitoring threshold of the phase deviation statistic, and according to a judgment result, the following corresponding processing is performed:
if the phase deviation integrity monitoring statistic is smaller than or equal to the set monitoring threshold of the phase deviation statistic, setting the phase deviation integrity identifier as 'pass', and entering a phase deviation product into the atmosphere correction calculation of a third level, namely tropospheric delay correction calculation and ionospheric delay correction calculation;
if the phase deviation integrity monitoring statistic is larger than the set monitoring threshold of the phase deviation statistic, setting the phase deviation integrity identifier as 'failed'. At this time, the observation value corresponding to the phase deviation can be weighted down or the phase deviation product is not used according to the actual situation;
if the phase deviation integrity monitoring statistic is not generated or the calculation time exceeds the maximum time delay, the phase deviation integrity identifier is set as 'unmonitored'. In the next level of atmosphere correction calculation, the observation value and the phase deviation correction value corresponding to the satellite are processed for weight reduction.
And performing integrity monitoring on system faults in the second layer by using a system alarm formula. It should be noted that since the generation of the phase offset depends on the data production of the first level, and is controlled by the quality control and integrity monitoring algorithm, the number of satellites corresponding to the phase offset is likely to be less than the correction parameter of the first level. At this point, the monitoring threshold for system alarms should be more conservative.
When the number of phase deviation products which fail the integrity monitoring of a certain system exceeds a threshold value, the system alarm identifier is set as 'failed'. The integrity information of all phase deviation correction products of the system is set as 'failed'. And eliminating the observed value and the phase deviation correction number of the alarm satellite system before inputting the next hierarchy. Assuming that the atmosphere correction model using the system observations and phase offset corrections has been calculated, the atmosphere correction integrity flag for the satellite system is "failed".
In summary, the integrity monitoring method for positioning data of a navigation satellite system provided by the present application has the following innovations:
1) aiming at the problem that repeated input of high-precision positioning data products is large in calculation amount, the coupling relation among the high-precision positioning data products is considered, and the structure for monitoring the integrity of the high-precision positioning data products in a grading mode is provided. The integrity information of the data product is classified into 3 grades according to the algorithm applicability thereof. The first layer is orbit correction, satellite clock error correction and code bias correction, the second layer is phase bias correction, and the third layer is troposphere delay correction and ionosphere delay correction. Integrity information obtained by calculation of each level is used as input quantity of calculation of the next level, so that found faults can be eliminated, and the calculation quantity is reduced.
2) Aiming at the system level fault of the satellite, in order to ensure the continuous output of data products, an independent monitoring logic is established, and the system level fault is found in time. The system integrity identifier is valid for each system, and any data product associated with a satellite must be monitored at the system level, and if the monitoring fails, all data products of the corresponding satellite system are temporarily disabled, prompting the user for risk.
3) In order to ensure that the user receives the integrity information within the alarm time, eliminate data faults and control the time delay between the data correction product and the integrity information. The integrity monitoring module is an independent and parallel module, and sets the longest waiting time of the data product to ensure the timeliness of the data product and increase the broadcasting and using strategies that the integrity calculation result is not received in time.
Thus, the integrity monitoring method for positioning data of a navigation satellite system provided by the embodiment has the following advantages:
1) at the production end of the data product, integrity information of different levels is utilized to optimize the calculation process of the data product and the calculation process of the integrity information, the data product with a fault and the observed quantity are removed, and the calculation time is shortened.
2) In the data production process, the integrity information of the previous level is used as the input quantity of the data product of the next level, the data product calculation module is helped to evaluate the quality of the input parameters, and the quality of the generated data product is improved.
3) Monitoring the time interval between integrity information and the data product, controlling time delay before the broadcasting module, setting the longest waiting time of product data, designing the broadcasting and using strategies in advance, and ensuring the timeliness of the data product.
4) From the user's perspective, the integrity information is received at the same time as the data product, helping the user generate a level of protection at the current time. Meanwhile, the integrity information of the data product can assist the user in selecting a proper high-precision positioning algorithm.
Based on the same inventive concept of the foregoing embodiments, an embodiment of the present invention provides a satellite system monitoring apparatus, as shown in fig. 6, the apparatus includes: a processor 310 and a memory 311 storing computer programs; the processor 310 illustrated in fig. 6 is not used to refer to the number of the processors 310 as one, but is only used to refer to the position relationship of the processor 310 relative to other devices, and in practical applications, the number of the processors 310 may be one or more; similarly, the memory 311 shown in fig. 6 is also used in the same sense, i.e. it is only used to refer to the position relationship of the memory 311 with respect to other devices, and in practical applications, the number of the memory 311 may be one or more. When the processor 310 runs the computer program, the integrity monitoring method of the navigation satellite system positioning data applied to the above-mentioned apparatus is implemented.
The apparatus may further comprise: at least one network interface 312. The various components in the device are coupled together by a bus system 313. It will be appreciated that the bus system 313 is used to enable communications of connections between these components. The bus system 313 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 313 in fig. 6.
The memory 311 may be a volatile memory or a nonvolatile memory, and may also include both volatile and nonvolatile memories. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. The volatile Memory may be a Random Access Memory (RAM), which serves as an external cache. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Dynamic Random Access Enhanced Memory (SDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Direct Random Access Memory (DRDRM), and the like. The memory 311 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the apparatus. Examples of such data include: any computer program for operating on the device, such as operating systems and applications; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, the program that implements the method of the embodiment of the present invention may be included in an application program.
Based on the same inventive concept of the foregoing embodiments, this embodiment further provides a computer storage medium, where a computer program is stored in the computer storage medium, and the computer storage medium may be a magnetic random access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read Only Memory (CD-ROM), and the like; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the integrity monitoring method of the positioning data of the navigation satellite system applied to the device is realized. Please refer to the description of the embodiment shown in fig. 1 for a specific step flow realized when the computer program is executed by the processor, which is not described herein again.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the combinations should be considered as the scope of the present description.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for integrity monitoring of satellite system positioning data, the method comprising the steps of:
acquiring a first observation value corresponding to pseudo range of a plurality of satellites at least one frequency point and a second observation value corresponding to a carrier phase contained in different satellite systems;
calculating and obtaining corresponding positioning data according to the first observation value and the second observation value;
according to the first observation value and the second observation value, integrity monitoring is carried out on the positioning data according to a preset strategy so as to obtain integrity monitoring information; wherein the preset strategy comprises: and carrying out hierarchical monitoring on the positioning data, and taking the integrity monitoring result of the previous hierarchy as the input for carrying out integrity monitoring on the next hierarchy.
2. The method of claim 1, wherein the integrity monitoring the positioning data according to the first observation and the second observation and according to a preset strategy to obtain integrity monitoring information comprises:
dividing the positioning data calculated by each satellite system into three levels for integrity monitoring; the first level comprises satellite orbit correction, satellite clock error correction and code error correction, the second level comprises phase error correction, and the third level comprises troposphere delay correction and ionosphere delay correction;
integrity monitoring is carried out on the first level based on the first observation value and the second observation value, and orbital clock error integrity information and code deviation integrity information of a plurality of satellites included in the satellite system are calculated and obtained;
integrity monitoring is carried out on the second hierarchy based on the first observation value, the second observation value, the orbital clock error integrity information and the code deviation integrity information, and phase deviation integrity information of each satellite is obtained;
and monitoring the integrity of the region of the third-level data product corresponding to the user based on the first observation value, the second observation value, the orbit clock error integrity information, the code deviation integrity information and the phase deviation integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
3. The method of claim 2, wherein the integrity monitoring of the first level based on the first observation and the second observation, and the calculating and obtaining the orbital clock error integrity information and the code bias integrity information of a plurality of satellites included in the satellite system comprises:
calculating satellite orbit correction data, satellite clock error correction data and code deviation correction data of each satellite contained in the satellite system according to the first observation value and the second observation value;
respectively carrying out orbit clock error integrity monitoring and code error integrity monitoring on each satellite according to the satellite orbit correction data, the satellite clock error correction data and the code error correction data to obtain orbit clock error integrity information and code error integrity information of each satellite;
the performing integrity monitoring on the second hierarchy based on the first observation value, the second observation value, the orbital clock error integrity information, and the code deviation integrity information to obtain phase deviation integrity information of each satellite includes:
calculating phase deviation correction data of each satellite according to the satellite orbit correction data, the satellite clock deviation correction data, the code deviation correction data, the orbit clock deviation integrity information and the code deviation integrity information;
respectively carrying out phase deviation integrity monitoring on each satellite according to the phase deviation correction data and the first observation value and the second observation value to obtain phase deviation integrity information of each satellite;
the integrity monitoring of the area where the user corresponding to the third-tier data product is located based on the first observation value, the second observation value, the orbital clock error integrity information, the code deviation integrity information, and the phase deviation integrity information to obtain the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite includes:
calculating a regional troposphere delay model and a regional ionosphere delay model of each satellite according to the satellite orbit correction data, the satellite clock error correction data, the code bias correction data, the phase bias correction data, the orbit clock error integrity information, the code bias integrity information and the phase bias integrity information;
and respectively carrying out troposphere delay integrity monitoring and ionosphere delay integrity monitoring on each satellite according to the first observation value and the second observation value, the regional troposphere delay model and the regional ionosphere delay model, and obtaining the integrity information of the regional troposphere delay model and the integrity information of the regional ionosphere delay model of each satellite.
4. The method of claim 3, wherein the integrity monitoring the positioning data according to the first observation and the second observation and according to a preset strategy to obtain integrity monitoring information, further comprises:
if the integrity information of a positioning data of the previous level shows that the positioning data of the previous level does not pass, determining a satellite corresponding to the positioning data which does not pass in the previous level when calculating the positioning data of the next level, and setting the integrity information of other positioning data corresponding to the satellite as not pass;
if the integrity information of a certain level of data in the previous level is not monitored, when the positioning data of the next level is calculated, the non-monitored positioning data of the previous level is subjected to weight reduction processing.
5. The method of claim 4, wherein the integrity monitoring the positioning data according to a preset strategy according to the first observation and the second observation to obtain integrity monitoring information, further comprises:
recording the generation time of the positioning data;
and when the integrity information of the positioning data is determined not to be acquired within a preset time after the generation time of the positioning data, setting the integrity information of the positioning data as unmonitored.
6. The method of claim 2, wherein the integrity monitoring the positioning data according to the first observation and the second observation and according to a preset strategy to obtain integrity monitoring information, further comprises:
counting integrity information of each satellite contained in the satellite system for each level of positioning data;
if the integrity information of the positioning data of the target hierarchy shows that the number of the failed satellites is larger than a preset number threshold, setting an alarm identifier of the satellite system about the positioning data of the target hierarchy as failed, and rejecting the first observation value, the second observation value and the positioning data of the target hierarchy.
7. The method of claim 6, further comprising:
if the integrity information of the positioning data of the next hierarchy has been calculated based on the positioning data of the target hierarchy, setting an alarm identifier of the satellite system with respect to the positioning data of the next hierarchy as failed.
8. The method of claim 2 or 3, further comprising:
and coding and broadcasting the satellite orbit correction data, the satellite clock error correction data, the code deviation correction data, the phase deviation correction data, the regional troposphere delay model, the regional ionosphere delay model, the corresponding orbit clock error integrity information, the code deviation integrity information, the phase deviation integrity information, the regional troposphere delay model integrity information and the regional ionosphere delay model integrity information according to a preset mode.
9. An integrity monitoring device for satellite system positioning data, comprising: a processor and a memory storing a computer program which, when executed by the processor, carry out the steps of the method of integrity monitoring of satellite system positioning data of any of claims 1 to 8.
10. A computer storage medium, characterized in that a computer program is stored which, when being executed by a processor, carries out the steps of the method for integrity monitoring of satellite system positioning data according to any one of claims 1 to 8.
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