CN115097493A - Integrity monitoring method of GNSS phase deviation product, server and storage medium - Google Patents
Integrity monitoring method of GNSS phase deviation product, server and storage medium Download PDFInfo
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Abstract
The application relates to an integrity monitoring method of a GNSS phase deviation product, a server side and a storage medium, wherein the integrity monitoring method comprises the following steps: acquiring original observation data, wherein the original observation data comprises first original observation data and second original observation data; calculating a first phase deviation product according to the first original observation data; and monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting the integrity information of the first phase deviation product. According to the integrity monitoring method, the server and the storage medium of the GNSS phase deviation product, faults introduced in the encoding and decoding process can be effectively detected by carrying out priori and posterior integrity closed-loop monitoring on the phase deviation product; based on the difference between epochs and the mutual check of the phase deviation products obtained by different groups of base stations, double-layer fault detection is carried out, the fault rate and the fault omission rate of the phase deviation products are reduced, and the performance of the positioning integrity of the navigation system is improved.
Description
Technical Field
The application belongs to the technical field of satellite navigation, and particularly relates to a method for monitoring integrity of a GNSS phase deviation product, a server and a storage medium.
Background
The Global Navigation Satellite System (GNSS) can provide all-weather real-time positioning, Navigation and time service for Global users, and the core constellation includes american GPS, chinese beidou Satellite Navigation System (BDS), european union Galileo and russian GLONASS. Under the assistance of no enhanced information, the independent single-system GNSS pseudo range single-point positioning precision is about 5 meters. In order to meet the requirements of the fields of surveying and mapping, automatic driving, monitoring and the like on high-precision positioning, the measurement error of the original GNSS needs to be corrected so as to realize positioning in centimeter or even millimeter level. At present, a PPP-RTK technical scheme is generally adopted by high-precision positioning users represented by automatic driving, and real-time dynamic centimeter-level positioning service can be provided nationwide by only using a small number of ground reference stations.
The implementation of GNSS high-precision positioning relies on carrier phase observations, and the integer ambiguity fixing of the carrier is the key. Compared with a differential positioning method, the original carrier phase used by PPP-RTK comprises hardware delay of a satellite end and a receiver end, so that the ambiguity loses the integer characteristic and cannot be directly fixed. Therefore, the PPP-RTK fixed solution is acquired by depending on a phase deviation product broadcast by a server, and the integer characteristic of the ambiguity is recovered. The quality of the phase deviation product determines whether the user end can obtain PPP-RTK fixed solution, and then determines the positioning performance of the user. Therefore, real-time fault detection and quality monitoring are carried out on the phase deviation product, and the method has important significance for high-precision positioning service providers.
As one of four basic indexes for measuring the navigation performance, the integrity directly reflects the positioning safety of the user. The concept of integrity is generally understood as: the ability to provide alerts to a user in a timely manner when the navigation system is unavailable reflects the degree of confidence in the correctness of the navigation information provided by the navigation system. In particular, the unavailability of navigation systems is often due to a malfunction in the measurement or product information involved in the positioning. At present, the field of high-precision positioning mainly focuses on improving navigation precision and stability, the completeness of high-precision positioning is rarely researched, and particularly in the generation process of a corrected product, only a simple quality control step is often added, and a strict completeness monitoring algorithm is not provided. However, ensuring the integrity of positioning is crucial for life safety related applications such as automatic driving, and the integrity information of the product is a necessary input for calculating the protection level, so that the high-precision positioning service provider must monitor the integrity of the corrected product in real time.
The calculation of the phase deviation product is based on an original GNSS observation value provided by a ground reference station in wide-area distribution, and the random characteristic of the GNSS observation error is obvious, so that sudden faults are easy to occur, and further the faults occur in the phase deviation product. If the fault is not detected and eliminated in time, the ambiguity fixing of the user end can not be carried out, even a large positioning deviation can be caused, and the safety of the user is seriously threatened. To address such issues, existing solutions are based on quality control in the product generation process, specifically, gross error rejection by evaluating the internal coincidence accuracy of the phase deviation calculation and the state estimation residual. However, the current technical solution has the disadvantages of high missing detection rate and failure due to codec of the product cannot be monitored. This is because the intra-coincidence precision value is a theoretical result extracted from the state transfer covariance, and the precision of its representation is far more optimistic than in the actual situation. In addition, since the same observation value is used for calculating the phase deviation product and the real-time residual error, the coupling between the phase deviation product and the real-time residual error can cover some large errors, and therefore the detection omission of the fault is caused. Finally, the real-time state estimation residual error is suitable for being used as a criterion for alarming, but is not beneficial to fault identification, and normal phase deviation products are easily eliminated by mistake. Therefore, for the application fields with strict safety requirements on high-precision services, such as automatic driving, the phase deviation product generated based on the prior art cannot meet the requirement of the user on the navigation integrity, and a new technical scheme needs to be provided.
Disclosure of Invention
In view of the above technical problems, the present application provides a method, a server, and a storage medium for monitoring integrity of a GNSS phase offset product, so as to effectively detect a fault introduced in an encoding and decoding process, reduce a fault rate and a fault omission rate of the phase offset product, and improve performance of positioning integrity of a navigation system.
The application provides a method for monitoring integrity of a GNSS phase deviation product, which comprises the following steps: acquiring original observation data, wherein the original observation data comprises first original observation data and second original observation data; calculating a first phase deviation product according to the first original observation data; and monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting the integrity information of the first phase deviation product.
In one embodiment, the first raw observation data is raw observation data of a ground reference station; the second original observation data is original observation data of an integrity monitoring station.
In one embodiment, the step of monitoring the integrity of the first phase deviation product according to the second original observation data and outputting the integrity information of the first phase deviation product includes: according to the second original observation data, carrying out prior integrity monitoring on the first phase deviation product, and determining prior integrity information of the first phase deviation product; and coding the first phase deviation product, and sending the coded first phase deviation product and the prior integrity information to a client.
In one embodiment, after the encoded first phase deviation product and the a priori integrity information are sent to a client, the method includes: acquiring a first phase deviation product decoded by the client; and monitoring the posterior integrity of the decoded first phase deviation product according to the second original observation data, determining the posterior integrity information of the first phase deviation product, and sending the posterior integrity information to the client.
In one embodiment, the step of monitoring the integrity of the first phase deviation product according to the second raw observation data and outputting the integrity information of the first phase deviation product includes: calculating a second phase deviation product according to the second original observation data; and monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product.
In one embodiment, the step of monitoring the integrity of the first phase deviation product based on the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product comprises: if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is larger than a first preset value, the first phase deviation product of the corresponding frequency is unavailable in the corresponding epoch; and if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value, the first phase deviation product of the corresponding frequency is available in the corresponding epoch.
In an embodiment, the first phase deviation product comprises a first wide lane phase deviation product, a first narrow lane phase deviation product; the second phase deviation product comprises a second wide lane phase deviation product and a second narrow lane phase deviation product; the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product further comprises: if the difference between the first wide lane phase deviation product and the second wide lane phase deviation product is greater than a wide lane threshold and/or the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is greater than a narrow lane threshold for any epoch, the first phase deviation product is unavailable in the corresponding epoch; if the difference between the first wide lane phase deviation product and the second wide lane phase deviation product is less than or equal to the wide lane threshold and the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is less than or equal to the narrow lane threshold for any epoch, then the first phase deviation product is available at the corresponding epoch.
In one embodiment, prior to monitoring the integrity of the first phase deviation product as a function of the relationship of the first phase deviation product to the second phase deviation product, comprising: acquiring the difference value between the epochs of the first phase deviation product from epoch to epoch; if the difference value between any epochs of the first phase deviation product of any epoch is greater than a second preset value, the first phase deviation product is unavailable in the corresponding epoch, and the first phase deviation product of the corresponding epoch is removed without participating in the calculation of the difference value between epochs of the next epoch; if the difference values between the epochs of the first phase deviation products of any epoch are all smaller than or equal to the second preset value, monitoring the integrity of the first phase deviation products in the corresponding epochs according to the relationship between the first phase deviation products of the corresponding epochs and the second phase deviation products of the corresponding epochs, and outputting the integrity information of the first phase deviation products in the corresponding epochs.
The application also provides a server, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the integrity monitoring method when executing the computer program.
The present application further provides a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned integrity monitoring method.
According to the integrity monitoring method, the server and the storage medium of the GNSS phase deviation product, faults introduced in the encoding and decoding process can be effectively detected by carrying out priori and posterior integrity closed-loop monitoring on the phase deviation product; based on the difference between epochs and the mutual check of the phase deviation products obtained by different groups of base stations, double-layer fault detection is carried out, the fault rate and the fault omission rate of the phase deviation products are reduced, and the performance of the positioning integrity of the navigation system is improved.
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Fig. 1 is a first schematic flow chart of an integrity monitoring method according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating a second integrity monitoring method according to a second embodiment of the present disclosure;
fig. 3 is a schematic specific flowchart of an integrity monitoring method according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a server according to a fourth embodiment of the present application.
Detailed Description
The technical solution of the present application is further described in detail with reference to the drawings and specific embodiments of the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a first flowchart illustrating an integrity monitoring method according to an embodiment of the present disclosure. As shown in fig. 1, the integrity monitoring method of the present application may include the steps of:
step S101: acquiring original observation data, wherein the original observation data comprises first original observation data and second original observation data;
optionally, the first original observation data is original observation data of a ground reference station; the second raw observation is a raw observation of the integrity monitoring station.
The integrity monitoring stations are positioning reference stations independent of the ground reference stations, and have the same technical indexes as the ground reference stations, for example, 200 positioning reference stations of a GPS satellite navigation system are selected, 30 positioning reference stations are selected as the integrity monitoring stations, and the remaining 170 positioning reference stations are selected as the ground reference stations. The integrity monitoring station does not participate in the calculation of the first phase deviation product and is used for monitoring the integrity of the first phase deviation product.
Step S102: calculating a first phase deviation product according to the first original observation data;
the original observation data comprises each epoch, a pseudo-range measurement value and a carrier measurement value of each frequency, and a phase deviation product of each epoch and each frequency is calculated according to the pseudo-range measurement value and the carrier measurement value of each epoch and each frequency. Optionally, the first phase deviation product and the second phase deviation product are obtained by combining the above calculation method according to the original observation data of the ground reference station and the integrity monitoring station for the same satellite, respectively.
Step S103: and monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting the integrity information of the first phase deviation product.
In one embodiment, step S103 includes:
calculating a second phase deviation product according to the second original observation data;
and monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product.
In one embodiment, the step of monitoring the integrity of the first phase deviation product based on its relationship to the second phase deviation product and outputting information on the integrity of the first phase deviation product comprises:
if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is larger than a first preset value, the first phase deviation product of the corresponding frequency is unavailable in the corresponding epoch;
if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value, the first phase deviation product of the corresponding frequency can be used in the corresponding epoch.
And the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is greater than or equal to 0.
Optionally, the first phase deviation product comprises a first wide lane phase deviation product, a first narrow lane phase deviation product; the second phase deviation product comprises a second wide lane phase deviation product and a second narrow lane phase deviation product;
in one embodiment, the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product further comprises:
if the difference value between the first wide lane phase deviation product and the second wide lane phase deviation product is greater than the wide lane threshold value and/or the difference value between the first narrow lane phase deviation product and the second narrow lane phase deviation product is greater than the narrow lane threshold value in any epoch, the first phase deviation product is unavailable in the corresponding epoch;
if the difference between the first wide lane phase deviation product and the second wide lane phase deviation product is less than or equal to the wide lane threshold value and the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is less than or equal to the narrow lane threshold value for any epoch, the first phase deviation product is available in the corresponding epoch.
It should be noted that, when calculating the difference between the first wide lane/narrow lane phase deviation product and the second wide lane/narrow lane phase deviation product, a quadratic difference method is required to unify the reference of the first wide lane/narrow lane phase deviation product and the second wide lane/narrow lane phase deviation product. And in any epoch, the difference value between the first wide lane/narrow lane phase deviation product and the second wide lane/narrow lane phase deviation product is greater than or equal to 0.
Illustratively, a set of phase deviation products (second phase deviation products) is independently calculated using raw observation data of the integrity monitoring station, cross-checked with a phase deviation product (first phase deviation product) generated based on raw observation data of the ground reference station, and a difference (residual) between the first phase deviation product and the second phase deviation product is taken as a test statistic. When the phase deviation product is used by a user, the phase deviation product is generally used in a form of forming a wide lane and a narrow lane, so that consistency of a first wide lane phase deviation product and a first narrow lane phase deviation product generated based on original observation data of a ground reference station and a second wide lane phase deviation product and a second narrow lane phase deviation product which are autonomously calculated by using original observation data of an integrity monitoring station is respectively checked, and a residual error is defined as follows:
wherein,
represents the wide-lane residual error and is,
representing a second wide-lane phase-bias product,
representing a first wide lane phase deviation product;
representing the residual of the narrow lane,
representing a second narrow lane phase deviation product,
representing a first lane phase deviation product.
After the wide lane residual and the narrow lane residual are calculated, the following judgment is carried out: if the wide lane residual error is greater than the wide lane threshold value or the narrow lane residual error is greater than the narrow lane threshold value, the integrity state of the first phase deviation product is set to be unavailable, otherwise, the integrity state of the first phase deviation product is set to be normally available.
In addition, when residual calculation is performed, the reference of two groups of products needs to be unified by adopting a secondary difference method. The reason why the second order difference is adopted is that when the phase deviation product is generated, a certain satellite is selected as a reference satellite, and the calculation formula is as follows:
wherein,
respectively the primary difference wide lane value of the integrity monitoring station after the benchmark is removed and the primary difference wide lane value of the ground benchmark station,
the first-order difference narrow lane value of the integrity monitoring station after the benchmark is removed and the first-order difference narrow lane value of the ground benchmark station are respectively, m is the satellite number, and ref is the reference satellite.
It is worth mentioning that before monitoring the integrity of the first phase deviation product based on its relationship to the second phase deviation product, the method comprises:
acquiring the difference value between epochs of a first phase deviation product from epoch to epoch;
if the difference value between any epochs of the first phase deviation products of any epoch is larger than a second preset value, the first phase deviation products are unavailable in the corresponding epoch, the first phase deviation products of the corresponding epoch are removed, and the calculation of the difference value between epochs of the next epoch is not participated;
if the difference values between the epochs of the first phase deviation products of any epoch are all smaller than or equal to the second preset value, the integrity of the first phase deviation products in the corresponding epochs is further monitored according to the relation between the first phase deviation products in the corresponding epochs and the second phase deviation products in the corresponding epochs, and the integrity information of the first phase deviation products in the corresponding epochs is output.
Wherein the difference between any epoch of the first phase offset product of any epoch is greater than or equal to 0.
Specifically, the value of the phase deviation product is stable and does not change obviously with time, so that whether a fault occurs can be judged by checking the difference value between epochs of the phase deviation product. In addition, in order to eliminate accidental factors between two epochs, a window moving mode is adopted, and the phase deviation product of the current epoch and the phase deviation product of the previous epoch are all subjected to difference so as to obtain a more reliable fault detection result. It should be noted that if the phase error product of the previous epoch is not available, the phase error product of the corresponding epoch is removed and does not participate in the calculation of the difference between epochs of the phase error product of the current epoch. Wherein, the phase deviation product corresponding to the epoch is removed, which only indicates that the phase deviation product corresponding to the epoch does not participate in the calculation of the difference value between epochs of the phase deviation product of the current epoch, and the phase deviation product corresponding to the epoch still needs to be broadcast to the client.
Illustratively, for the first phase deviation product of the t epoch, there are t-1 inter-epoch differences, any inter-epoch difference
Wherein,
the first phase deviation product for the t epoch,
the first phase deviation product is the first phase deviation product of any epoch in the first t-1 epochs, i represents the product number of the first phase deviation product, if the first phase deviation product has different numbers for different satellites, k is 1, …, t-1, and t is larger than or equal to 2; because the phase deviation product has the characteristic of stable post-broadcasting, when t is 1,
if it is
If the difference value between any epochs of the first phase deviation product of any epoch is greater than a second preset value, the first phase deviation product is unavailable in the corresponding epoch; if it is
If the difference value between the epochs of the first phase deviation product of any epoch is less than or equal to the second preset value, the integrity of the first phase deviation product in the corresponding epoch is further monitored according to the relation between the first phase deviation product of the corresponding epoch and the second phase deviation product of the corresponding epoch, and the integrity information of the first phase deviation product in the corresponding epoch is output; wherein, T Δ Is the second preset value.
According to the integrity monitoring method provided by the embodiment of the application, double-layer fault detection is performed based on the difference between epochs and mutual verification of phase deviation products obtained by different groups of base stations, so that the fault rate and the fault omission rate of the phase deviation products are effectively reduced, and the performance of positioning integrity of a navigation system is improved.
Fig. 2 is a flowchart illustrating a second integrity monitoring method provided in the second embodiment of the present disclosure. As shown in fig. 2, the integrity monitoring method of the present application may include the following steps:
step S201, according to second original observation data, carrying out prior integrity monitoring on a first phase deviation product, and determining prior integrity information of the first phase deviation product;
step S202: coding the first phase deviation product, and sending the coded first phase deviation product and the prior integrity information to the client;
step S203: acquiring a first phase deviation product decoded by a client;
step S204: and according to the second original observation data, carrying out posterior integrity monitoring on the decoded first phase deviation product, determining posterior integrity information of the first phase deviation product, and sending the posterior integrity information to the client.
Alternatively, t 0 At the moment, a priori integrity monitoring module of the server side carries out priori integrity information calculation on the first phase deviation product according to the calculation result of the first phase deviation product and current observation data of an integrity monitoring station; t is t 1 At the moment, a priori integrity monitoring module of the server side sends the first phase deviation product and the priori integrity information thereof to a broadcasting platform of the server side; t is t 2 At the moment, the broadcasting platform of the server side codes the information according to a preset protocol and then broadcasts the information to a service SDK (software tool kit) module of the client side; t is t 3 At any moment, the service SDK module of the client decodes the information, sends the decoded information to the calculation module of the client, and simultaneously sends the decoded first phase deviation product to the posterior integrity monitoring module of the server and the posterior integrity monitoring module of the serverBlock bond integrity monitoring station at t 0 Calculating posterior integrity information of the first phase deviation product according to the observation data at the moment; t is t 4 At any moment, a posterior integrity monitoring module of the server side sends posterior integrity information of the first phase deviation product to a broadcasting platform of the server side; t is t 5 At the moment, the broadcasting platform of the server side codes the posterior integrity information of the first phase deviation product according to a preset protocol and then broadcasts the posterior integrity information to the service SDK module of the client side; t is t 6 And at the moment, the service SDK module of the client decodes the posterior integrity information of the first phase deviation product and sends the decoded posterior integrity information of the first phase deviation product to the calculation module of the client.
Further, if the prior integrity information and the posterior integrity information are both available for the first phase deviation product, the calculation module of the client combines other corrected products (such as a precise track, a precise clock error and the like) and the observation data of the client according to the first phase deviation product to realize high-precision positioning; if t 3 A priori integrity information and t received at a time 6 And if any item of the posterior integrity information received at the moment shows that the first phase deviation product is unavailable, the client executes an alarm operation at the corresponding moment.
The prior integrity monitoring and the posterior integrity monitoring may both adopt the integrity monitoring method in step S103 in the first embodiment, and are not described herein again.
According to the integrity monitoring method provided by the embodiment of the application, faults introduced in the coding and decoding processes can be effectively detected by carrying out priori and posterior integrity closed-loop monitoring on the phase deviation product; based on the difference between epochs and the mutual check of the phase deviation products obtained by different groups of base stations, double-layer fault detection is carried out, the fault rate and the fault omission rate of the phase deviation products are effectively reduced, and the performance of the positioning integrity of the navigation system is improved.
Fig. 3 is a schematic flow chart of an integrity monitoring method provided in the third embodiment of the present application. As shown in fig. 3, the integrity monitoring method of the present application may include the following steps:
step S301: respectively acquiring a first phase deviation product and a second phase deviation product based on original observation data of a ground reference station and an integrity monitoring station;
step S302: acquiring the difference between epochs of a first phase deviation product one epoch by one epoch;
step S303: judging whether all the difference values between the epochs of the first phase deviation product of any epoch are less than or equal to a second preset value;
if the difference between any epochs of the first phase offset product of any epoch is greater than the second preset value, execute step S304: outputting integrity information: the first phase offset product is not available at the corresponding epoch;
if all the inter-epoch differences of the first phase offset product of any epoch are less than or equal to the second preset value, step S305 is executed: judging whether the relation between a first phase deviation product corresponding to the epoch and a second phase deviation product corresponding to the epoch meets a preset condition or not;
if the relationship between the first phase deviation product corresponding to the epoch and the second phase deviation product corresponding to the epoch satisfies the preset condition, executing step S306: outputting integrity information: the first phase offset product is available at the corresponding epoch;
if the relationship between the first phase deviation product corresponding to the epoch and the second phase deviation product corresponding to the epoch does not satisfy the preset condition, step S304 is executed.
The relationship between the first phase deviation product corresponding to the epoch and the second phase deviation product corresponding to the epoch meets a preset condition, and the relationship comprises any one of the following items:
the difference value between the first phase deviation product corresponding to the epoch and any frequency and the second phase deviation product corresponding to the epoch and the frequency is smaller than or equal to a first preset value;
the difference between the first wide lane phase deviation product and the second wide lane phase deviation product corresponding to the epoch is less than or equal to a wide lane threshold, and the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is less than or equal to a narrow lane threshold.
The specific implementation process of this embodiment refers to the first and second embodiments, and is not described herein again.
According to the integrity monitoring method provided by the third embodiment of the application, the double-layer fault detection algorithm is designed from different dimensions, and independent phase deviation observation data obtained from a special integrity monitoring station are utilized, so that the external conformity inspection of a phase deviation product is realized, the fault rate and the fault omission rate of the phase deviation product are effectively reduced, and the performance of the positioning integrity of a navigation system is improved.
Fig. 4 is a schematic structural diagram of a server according to the fourth embodiment of the present disclosure. The server side of the application comprises: a processor 110, a memory 111 and a computer program 112 stored in said memory 111 and executable on said processor 110. The processor 110, when executing the computer program 112, performs the steps in the various integrity monitoring method embodiments described above.
The server may include, but is not limited to, a processor 110, a memory 111. Those skilled in the art will appreciate that fig. 4 is merely an example of a server, and does not constitute a limitation on a server, and may include more or fewer components than those shown, or some components in combination, or different components, for example, the server may further include an input output device, a network access device, a bus, etc.
The Processor 110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 111 may be an internal storage unit of the server, such as a hard disk or a memory of the server. The memory 111 may also be an external storage device of the server, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the server. Further, the memory 111 may also include both an internal storage unit of the server and an external storage device. The memory 111 is used for storing the computer program and other programs and data required by the server. The memory 111 may also be used to temporarily store data that has been output or is to be output.
The present application also provides a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the integrity monitoring method as described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
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 application, but the scope of the present application 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 application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for monitoring integrity of GNSS phase deviation products is characterized by comprising the following steps:
acquiring original observation data, wherein the original observation data comprises first original observation data and second original observation data;
calculating a first phase deviation product according to the first original observation data;
and monitoring the integrity of the first phase deviation product according to the second original observation data, and outputting the integrity information of the first phase deviation product.
2. The integrity monitoring method of claim 1, wherein the first raw observation is a raw observation of a ground reference station; the second original observation data is original observation data of an integrity monitoring station.
3. The integrity monitoring method of claim 2, wherein the step of monitoring the integrity of the first phase-bias product based on the second raw observation and outputting the integrity information of the first phase-bias product comprises:
according to the second original observation data, carrying out prior integrity monitoring on the first phase deviation product, and determining prior integrity information of the first phase deviation product;
and coding the first phase deviation product, and sending the coded first phase deviation product and the prior integrity information to a client.
4. The integrity monitoring method of claim 3, further comprising, after sending the encoded first phase deviation product and the a priori integrity information to a client:
acquiring a first phase deviation product decoded by the client;
and monitoring the posterior integrity of the decoded first phase deviation product according to the second original observation data, determining the posterior integrity information of the first phase deviation product, and sending the posterior integrity information to the client.
5. The integrity monitoring method of any one of claims 1-4 wherein the step of monitoring the integrity of the first phase-bias product based on the second raw observation and outputting information on the integrity of the first phase-bias product comprises:
calculating a second phase deviation product according to the second original observation data;
and monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product, and outputting the integrity information of the first phase deviation product.
6. The integrity monitoring method of claim 5, wherein the step of monitoring the integrity of the first phase deviation product based on the relationship of the first phase deviation product to the second phase deviation product and outputting the integrity information of the first phase deviation product comprises:
if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is larger than a first preset value, the first phase deviation product of the corresponding frequency is unavailable in the corresponding epoch;
and if the difference value between the first phase deviation product of any epoch and any frequency and the second phase deviation product of the corresponding epoch and the corresponding frequency is less than or equal to the first preset value, the first phase deviation product of the corresponding frequency is available in the corresponding epoch.
7. The integrity monitoring method of claim 5, wherein the first phase deviation product comprises a first wide lane phase deviation product, a first narrow lane phase deviation product; the second phase deviation product comprises a second wide lane phase deviation product and a second narrow lane phase deviation product;
the step of monitoring the integrity of the first phase deviation product according to the relationship between the first phase deviation product and the second phase deviation product and outputting the integrity information of the first phase deviation product further comprises:
if the difference between the first wide lane phase deviation product and the second wide lane phase deviation product is greater than a wide lane threshold and/or the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is greater than a narrow lane threshold for any epoch, the first phase deviation product is unavailable in the corresponding epoch;
if the difference between the first wide lane phase deviation product and the second wide lane phase deviation product is less than or equal to the wide lane threshold and the difference between the first narrow lane phase deviation product and the second narrow lane phase deviation product is less than or equal to the narrow lane threshold for any epoch, then the first phase deviation product is available at the corresponding epoch.
8. The integrity monitoring method of claim 5, prior to monitoring the integrity of the first phase deviation product as a function of the relationship of the first phase deviation product to the second phase deviation product, comprising:
acquiring the difference value between the epochs of the first phase deviation product from epoch to epoch;
if the difference value between any epochs of the first phase deviation product of any epoch is greater than a second preset value, the first phase deviation product is unavailable in the corresponding epoch, and the first phase deviation product of the corresponding epoch is removed without participating in the calculation of the difference value between epochs of the next epoch;
if the difference values between the epochs of the first phase deviation products of any epoch are all smaller than or equal to the second preset value, monitoring the integrity of the first phase deviation products in the corresponding epochs according to the relationship between the first phase deviation products of the corresponding epochs and the second phase deviation products of the corresponding epochs, and outputting the integrity information of the first phase deviation products in the corresponding epochs.
9. A server, characterized in that the server comprises a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the integrity monitoring method according to any one of claims 1 to 8 when executing the computer program.
10. A storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the integrity monitoring method as claimed in any one of claims 1 to 8.
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