CN115032668A - Desensitization method and device for satellite navigation positioning reference station observation data - Google Patents
Desensitization method and device for satellite navigation positioning reference station observation data Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention provides a desensitization method and a desensitization device for observation data of a satellite navigation positioning reference station. The method comprises the following steps performed in a secure environment: acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station; constructing a virtual station near the reference station, and calculating satellite observation data of the virtual station based on the acquired data and the coordinate data of the virtual station; and outputting the satellite observation data of the virtual station in real time. Compared with the existing network RTK, the data desensitization is realized based on the generation of the virtual grid points, the networking calculation of the reference stations is not needed, the virtual observation data of each reference station are independent from each other, the calculation amount is reduced, and the high consistency of the observation data of the virtual stations and the observation data of the reference stations on the data observation quality can be kept.
Description
Technical Field
The invention belongs to the technical field of data security, and particularly relates to a desensitization method and a desensitization device for observation data of a satellite navigation positioning reference station.
Background
In order to meet the safety requirements of storage and data reproduction of observation data and coordinate data of a satellite navigation positioning reference station, data production needs to be carried out in a production environment with unidirectional data transmission conditions. The construction of a production environment, namely deploying unidirectional optical gate equipment and standard data format reduction software between a standard station network and the production environment for processing the confidential data to realize unidirectional leading-in of the standard station compliance observation data stream and the file to the confidential computer network for calculation; data product content auditing software and one-way optical gate equipment are deployed between the secret-related computing network and the data broadcasting switching subnet (product broadcasting output end), so that the one-way export of non-secret-related compliance data products to the non-secret-related network is realized. Meanwhile, after the coordinate values of the reference station are safely transformed, the coordinate values are led into a secret-involved computing network through an encryption hard disk and are directly read by a computing server.
Under the current situation that user services can be provided, the satellite navigation positioning reference station observation data and the satellite navigation positioning reference station coordinates are generally used for providing network RTK services. In order to meet the requirement of data confidentiality, a network RTK algorithm introduces a grid concept, carries out gridding processing on the geographic coverage range of a reference station grid to obtain coordinates of grid points, produces service data of all the grid points in real time, and transmits the service data of all the grid points out of a confidential environment in a one-way mode; and caching the service data of all grid points in real time outside a confidential environment, and deploying service software for logging in by an RTK positioning user. The application of the gridding algorithm is premised on the requirement of generating grid points in the reference station network, and in order to ensure that real-time services can be provided for users, the gridding algorithm must continuously calculate VRS (virtual reference station technology) data of all grid points in the reference station network. This security method has the following problems: firstly, the user access is completely separated from the algorithm calculation, and the user access capability is irrelevant to the calculation capability of the algorithm. In general, the spatial density of users on-line in the network of reference stations is not uniform, and a part of local users are particularly concentrated, while some areas have no users. Meanwhile, the online time density of users in the reference station network is also uneven, and the online time of users in certain specific industries in certain areas is night, such as road inspection users; while the online time for most industry users is daytime. However, in order to provide real-time data service for users, the grid algorithm must continuously calculate VRS service data for all grid points in the grid, which also results in a larger waste of computing resources. And secondly, grid point data produced by a network RTK algorithm is only used for providing RTK positioning service, cannot be reused and is used for secondary production.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a desensitization method and device for observation data of a satellite navigation positioning reference station.
In order to achieve the above object, the present invention adopts the following technical solutions.
In a first aspect, the present invention provides a method for desensitizing observation data of a satellite navigation positioning reference station, including the following steps performed in a secure environment:
acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station;
constructing a virtual station near the reference station, and calculating satellite observation data of the virtual station based on the acquired data and the coordinate data of the virtual station;
and outputting the satellite observation data of the virtual station in real time.
Further, the method further comprises setting a data format of the reference station and a data format of the virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
Further, the method for calculating the satellite observation data of the virtual station comprises the following steps:
s1, calculating the observation time of the observation data of the reference station, the satellite clock error of each satellite observed by the reference station and the coordinates of each satellite according to the satellite ephemeris and the observation data of each satellite, and specifically including:
according to the signal observation time t of the receiver obs And calculating the satellite signal emission time t by summing the pseudo-range observed value P s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission time t s Of the satellite clock difference dt s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite space of the reference station, (X, Y, Z) is the coordinate of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station, (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain the correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Correction information of pseudo-range observations and phase observations, λ, of signals of frequency f, respectively f Is the carrier wavelength of the signal at frequency f;
s5, respectively connecting the pseudo-range observed value and the phase observed value of the current time with delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
Still further, the method includes constructing a database for providing ephemeris data for virtual station satellite observation data calculations, the database maintaining fresh ephemeris data for each satellite.
Further, the virtual station is no more than 1 kilometer from the reference station.
In a second aspect, the present invention provides a desensitization device for observation data of a satellite navigation positioning reference station, including:
the data acquisition module is used for acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station;
the virtual calculation module is used for constructing a virtual station near the reference station and calculating satellite observation data of the virtual station based on the acquired data and coordinate data of the virtual station;
and the data output module is used for outputting the satellite observation data of the virtual station in real time.
Further, the device also comprises a data format definition module, which is used for setting the data format of the reference station and the data format of the virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
Further, the virtual computing module is specifically configured to:
s1, calculating the observation time of the observation data of the reference station, the satellite clock error of each satellite observed by the reference station and the coordinates of each satellite according to the satellite ephemeris and the observation data of each satellite, and specifically including:
according to the signal observation time t of the receiver obs And calculating the satellite signal emission time t by summing the pseudo-range observed value P s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission time t s Of the satellite clock difference dt s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting the satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite space of the reference station, (X, Y, Z) is the coordinate of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station, (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain the correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Correction information of pseudo-range observations and phase observations, λ, of signals of frequency f, respectively f Is the carrier wavelength of the signal at frequency f;
s5, respectively comparing the pseudo-range observed value and the phase observed value of the current time with the delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
Furthermore, the device also comprises a database construction module for constructing a database for providing ephemeris data for the virtual station satellite observation data calculation, wherein the database stores the latest ephemeris data of each satellite.
Further, the virtual station is no more than 1 kilometer from the reference station.
Compared with the prior art, the invention has the following beneficial effects.
The method comprises the steps of acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station in a confidential environment, constructing a virtual station near the reference station, calculating the satellite observation data of the virtual station based on the acquired data and the coordinate data of the virtual station, and outputting the satellite observation data of the virtual station in real time, so that desensitization of the satellite observation data and the coordinate data of the reference station is realized. Compared with the existing network RTK, the single-base-station virtualized data desensitization algorithm realizes data desensitization based on the generation of virtual grid points, does not need base station networking calculation, reduces the calculation amount because the virtual observation data of each base station are independent from each other and do not influence each other, and can ensure that the virtual station observation data and the base station observation data keep high consistency on data observation quality.
Drawings
Fig. 1 is a flowchart of a desensitization method for observation data of a satellite navigation positioning reference station according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an application environment of the embodiment of the present invention.
Fig. 3 is a block diagram of a desensitization apparatus for satellite navigation positioning reference station observation data according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
FIG. 1 is a flow chart of a method for desensitizing observation data of a satellite navigation positioning reference station according to an embodiment of the present invention, including the following steps performed in a secure environment:
102, constructing a virtual station near the reference station, and calculating satellite observation data of the virtual station based on the acquired data and coordinate data of the virtual station;
and 103, outputting the satellite observation data of the virtual station in real time.
In this embodiment, step 101 is mainly used to obtain real-time satellite observation data of a reference station and coordinate data of the reference station. According to the provision of the national secret range of geographic information management work of surveying and mapping, which is published by the ministry of natural resources and the national security administration in 2020, the coordinates of the satellite navigation positioning reference station and the observation data of the satellite navigation positioning reference station network belong to the long-term secret data of the national secret. That is, the satellite observation data and the reference station coordinate data are two kinds of data that need to be desensitized in this embodiment. In order to realize data security, the desensitization algorithm of the embodiment is performed in a data center with a security environment, as shown in fig. 2, a unidirectional shutter technology is used to ensure unidirectional transmission of data; and the data protocol software of the reference station is utilized to ensure that only the data meeting the specific format requirement is passed.
In this embodiment, step 102 is mainly used for performing single-reference-station virtualization calculation. The single-reference-station virtualization calculation is to construct a virtual station near a reference station, and calculate satellite observation data of the virtual station based on the satellite observation data of the reference station, coordinate data and coordinate data of the virtual station. In the prior art, in order to meet the requirement of data confidentiality, a grid concept is generally introduced into a network RTK algorithm, a geographic coverage area of a reference station grid is subjected to gridding processing to obtain coordinates of grid points, the network RTK algorithm produces service data of all the grid points in real time, and the service data of all the grid points are transmitted out of a confidential environment in a one-way mode; and (4) caching the service data of all grid points in real time outside a confidential environment, and deploying RTK positioning user-oriented login service software. The processing method in the prior art needs reference stations to perform networking calculation, the reference stations have relevance, and data quality of one reference station has problems, so that data production of other satellite navigation positioning reference stations can be influenced. Therefore, the embodiment provides a method for realizing data desensitization based on single-reference-station virtualized data production, and virtual observation data of each reference station are independent from each other and cannot influence each other. Before and after the single reference station virtualization data production algorithm, the observation data of the satellite navigation positioning reference station and the observation data of the virtual station of the virtual reference station are kept consistent in data observation quality.
In this embodiment, step 103 is mainly used to output satellite observation data of the virtual station. In this embodiment, the finally output data generally includes reference station state information and satellite ephemeris observed by the virtual station, in addition to the satellite observation data of the virtual station. In the embodiment, the data desensitization of the reference station is realized by outputting the satellite observation data of the virtual station instead of directly outputting the observation data of the reference station. The observation data of the virtual station can be output to an industry service user and a scientific research user for subsequently carrying out positioning service data production. After desensitization of the reference station data, the virtual station observation data has no privacy attributes (no privacy is required). The data desensitization process of the embodiment is a single-reference-station virtualization calculation process performed in a secure environment, so that the security problem of two sensitive data, namely observation data and reference station coordinates, is solved while data desensitization is performed.
As an optional embodiment, the method further comprises setting a data format of the reference station and a data format of the virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
The present embodiment sets the data format of the reference station and the data format of the virtual station. The data formats of the reference station are commonly used board card data format and RTCM data format. The data formats of the board cards are different due to different board card types. The data format of the virtual station is typically set to the RTCM data format. And the data in the observation data calculation process of the virtual station and the finally output data adopt the set data format of the virtual station.
As an alternative embodiment, the method for calculating the satellite observation data of the virtual station comprises the following steps:
s1, calculating the observation time of the observation data of the reference station, the satellite clock error of each satellite observed by the reference station and the coordinates of each satellite according to the satellite ephemeris and the observation data of each satellite, and specifically including:
according to the signal observation time t of the receiver obs And calculating the satellite signal emission time t by summing the pseudo-range observed value P s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission instant t s Of the satellite clock difference dt s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting the satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite-satellite distance of the reference station, (X, Y, Z) are the coordinates of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station, (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain the correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Correction information of pseudo-range observations and phase observations, λ, of signals of frequency f, respectively f Is the carrier wavelength of the signal at frequency f;
s5, respectively connecting the pseudo-range observed value and the phase observed value of the current time with delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
The embodiment provides a technical scheme for calculating the satellite observation data of the virtual station. In this embodiment, based on the observation data and coordinates of the reference station and the coordinates of the virtual station, the iterative method is used to calculate the observation data of the virtual station, and the initial values of the pseudo range and the phase in the iterative method are the pseudo range observation data and the phase observation data output by the reference station. The specific iterative algorithm is given above and will not be described in detail here. It should be noted that, in step S1, the three-dimensional coordinates (X) of the satellite in the geocentric/geostationary coordinate system are calculated according to the satellite ephemeris s ,Y s ,Z s ) The method of (X) is not given here because the calculation process involves too many equations s ,Y s ,Z s ) The detailed solution formula of (1).
As an alternative embodiment, the method further comprises constructing a database for providing ephemeris data for the virtual station satellite observation data calculation, the database storing the latest ephemeris data for each satellite.
The single reference station virtualization calculation needs to ensure that ephemeris of all observed satellites can be received, and when a receiver of a reference station is set, only real-time output of observation data is focused, and the output frequency is usually 1 Hz. Some receivers may have missing ephemeris output configurations and most receivers have low ephemeris output frequency, typically above 1 minute. For the continuous production process of the single-reference station virtualization algorithm, when the receiver is not configured with ephemeris output, the single-reference station virtualization algorithm cannot produce data; when the ephemeris output frequency of the receiver is low, the single-reference station virtualization algorithm cannot produce data within a period of time when the single-reference station virtualization algorithm starts to produce, and after the ephemeris of each satellite is received in sequence, the satellites with normal satellite ephemeris can be used for producing virtual observation data in sequence. For this purpose, a separate ephemeris service needs to be maintained, which stores the latest ephemeris of all satellites, for example, establishing a cache database (which may also be TCP Server software).
As an alternative embodiment, the virtual station is no more than 1km from the reference station.
In order to ensure the consistency of the observation data of the virtual station and the observation data of the reference station, the coordinates of the virtual station need to be constrained, so that when the observation data are produced for the virtual station, the observation data of the virtual station and the observation data of the reference station have better consistency in ionospheric delay and tropospheric delay. Because the ionospheric thickness is thin, the ionospheric delay can be considered as the delay generated at the ionospheric thin-layer puncture point on the path of the satellite signal propagating to the receiver, and the delay term has strong local consistency, so that the ionospheric delay within a certain range from the reference station can be considered to be equal to the ionospheric delay of the reference station. The size of the range may be considered to be around 1km, i.e. the position of the virtual station may be within 1km of the reference station. The measured data shows that the error of the ionospheric delay of two reference stations within 1km is in the mm level. The tropospheric delay affecting the satellite navigation positioning consists of two parts, the troposphere and the stratosphere. The troposphere is thick and all reference stations are inside the troposphere. The magnitude of the tropospheric delay is directly affected by the atmospheric pressure, the water vapor pressure, and the atmospheric temperature at the reference station. The magnitude of these physical quantities is significantly inversely correlated with elevation near the earth's surface (within 5 km). The difference in height of the reference station directly affects the magnitude of the tropospheric delay. At the same time, these physical quantities affecting the tropospheric delay also have strong variations in the horizontal direction. The virtual station is therefore not too far away from the reference station and should generally be less than 1 km. The measured data shows that the error of tropospheric delay of two reference stations within 1km is in the mm level. For this reason, the present embodiment defines that the distance between the virtual station and the reference station is not more than 1 km.
It should be noted that, in the process of producing the single-base-station virtualization algorithm, the position described by the coordinates of the base station and the corresponding parameters need to be determined, so that consistency between the observation data produced by the single-base-station virtualization algorithm and the coordinates of the virtual station and the antenna parameters can be ensured. If the consistency of the antenna parameters is not considered, systematic deviation caused by the inconsistency of the antenna parameters can occur.
Fig. 3 is a schematic composition diagram of a desensitization apparatus for satellite navigation positioning reference station observation data according to an embodiment of the present invention, where the apparatus includes:
the data acquisition module 11 is configured to acquire real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station;
a virtual calculation module 12, configured to construct a virtual station near the reference station, and calculate satellite observation data of the virtual station based on the acquired data and coordinate data of the virtual station;
and the data output module 13 is configured to output the satellite observation data of the virtual station in real time.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again. The same applies to the following embodiments, which are not further described.
As an optional embodiment, the apparatus further includes a data format definition module, configured to set a data format of the reference station and a data format of the virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
As an optional embodiment, the virtual computing module is specifically configured to:
s1, according to the ephemeris of the satellite and the observation data of each satellite, calculating the observation time of the observation data of the reference station, the clock error of each satellite observed by the reference station and the coordinates of each satellite, specifically comprising:
according to the signal observation time t of the receiver obs And pseudo range observed value P, calculating satellite signal transmission time t s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission time t s Of the satellite clock difference dt s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting the satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite space of the reference station, (X, Y, Z) is the coordinate of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station, (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain a correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Correction information of pseudo-range observations and phase observations, respectively, of signals of frequency f, λ f Is the carrier wavelength of the signal at frequency f;
s5, respectively connecting the pseudo-range observed value and the phase observed value of the current time with delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
As an optional embodiment, the apparatus further includes a database construction module, configured to construct a database for providing ephemeris data for virtual station satellite observation data calculation, where the database stores the latest ephemeris data of each satellite.
As an alternative embodiment, the virtual station is no more than 1km from the reference station.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A desensitization method of satellite navigation positioning reference station observation data, characterized by comprising the following steps performed in a secure environment:
acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station;
constructing a virtual station near the reference station, and calculating satellite observation data of the virtual station based on the acquired data and the coordinate data of the virtual station;
and outputting the satellite observation data of the virtual station in real time.
2. The method of desensitizing satellite navigation positioning reference station observation data according to claim 1, further comprising setting a data format of a reference station and a data format of a virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
3. The method of desensitizing satellite navigation positioning reference station observations according to claim 1 wherein the method of computing virtual station satellite observations comprises:
s1, calculating the observation time of the observation data of the reference station, the satellite clock error of each satellite observed by the reference station and the coordinates of each satellite according to the satellite ephemeris and the observation data of each satellite, and specifically including:
according to the signal observation time t of the receiver obs And calculating the satellite signal emission time t by summing the pseudo-range observed value P s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission time t s Of the satellite clock difference dt s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting the satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite space of the reference station, (X, Y, Z) is the coordinate of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain a correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Pseudorange observations and phase for signals of frequency f, respectivelyCorrection information of observed value, lambda f Is the carrier wavelength of the signal at frequency f;
s5, respectively connecting the pseudo-range observed value and the phase observed value of the current time with delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
4. The method of desensitizing satellite navigation positioning reference station observations according to claim 3, further comprising constructing a database for providing ephemeris data for virtual station satellite observation calculations, said database holding fresh ephemeris data for each satellite.
5. The method of desensitizing satellite navigation positioning reference station observations according to claim 1, wherein said virtual stations are no more than 1 kilometer from the reference station.
6. A desensitization device for observation data of a satellite navigation positioning reference station is characterized by comprising:
the data acquisition module is used for acquiring real-time satellite observation data of a satellite navigation positioning reference station and coordinate data of the reference station;
the virtual computing module is used for constructing a virtual station near the reference station and computing satellite observation data of the virtual station based on the acquired data and the coordinate data of the virtual station;
and the data output module is used for outputting the satellite observation data of the virtual station in real time.
7. The desensitization device of satellite navigation positioning reference station observations according to claim 6, further comprising a data format definition module for setting a data format of the reference station and a data format of the virtual station; and encoding the virtual station satellite observation data obtained through calculation according to the set virtual station data format and then outputting the encoded virtual station satellite observation data.
8. The desensitization device of satellite navigation positioning reference station observation data according to claim 6, wherein the virtual computing module is specifically configured to:
s1, calculating the observation time of the observation data of the reference station, the satellite clock error of each satellite observed by the reference station and the coordinates of each satellite according to the satellite ephemeris and the observation data of each satellite, and specifically including:
based on the receiver's signal observation time t obs And calculating the satellite signal emission time t by summing the pseudo-range observed value P s ：
t s ＝t obs -P/C
Wherein C is the speed of light;
according to the satellite clock error parameter f 0 、f 1 、f 2 Extrapolation of the signal transmission time t s Dt of satellite clock s ：
dt s ＝f 0 +f 1 ×dt+f 2 ×dt 2
In the formula (I), the compound is shown in the specification,
a reference time for satellite ephemeris;
correcting the satellite signal transmission time to t s -dt s And calculating the three-dimensional coordinates (X) of the satellite in the geocentric geostationary coordinate system according to the satellite ephemeris by using the corrected satellite signal transmitting time s ,Y s ,Z s )；
S2, calculating the satellite distance of each satellite of the reference station based on the coordinates of the reference station and the coordinates of each satellite, wherein the satellite distance is the geometric distance between the satellite and the receiver, and the formula is as follows:
in the formula, dist is the satellite space of the reference station, (X, Y, Z) is the coordinate of the reference station in the geocentric geostationary coordinate system, and omega is the rotational angular velocity of the earth;
s3, calculating the satellite-to-ground distance of each satellite in the virtual station based on the coordinates of the virtual station and the coordinates of each satellite, wherein the formula is as follows:
in the formula, dist V Is the satellite-to-earth distance of the virtual station (X) V ,Y V ,Z V ) The coordinates of the virtual station under the geocentric geostationary coordinate system are obtained;
s4, calculating the difference between the satellite distance of the reference station and the satellite distance of the virtual station to obtain a correction information formula of each satellite observation data as follows:
ΔP f ＝dist V -dist
ΔL f ＝ΔP f /λ f
in the formula,. DELTA.P f 、ΔL f Correction information of pseudo-range observations and phase observations, respectively, of signals of frequency f, λ f Is the carrier wavelength of the signal at frequency f;
s5, respectively connecting the pseudo-range observed value and the phase observed value of the current time with delta P f 、ΔL f After the addition, the process returns to step S1 to perform iterative calculation until the difference between the pseudo-range observation value correction information of the two iterations is smaller than the set threshold.
9. The desensitization device of satellite navigation positioning reference station observation data according to claim 8, further comprising a database construction module for constructing a database for providing ephemeris data for virtual station satellite observation data calculations, said database holding fresh ephemeris data for each satellite.
10. The desensitization device of satellite navigation positioning reference station observations according to claim 6, wherein said virtual stations are no more than 1km from the reference station.
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