CN115173925B - Inter-satellite single difference ionosphere delay determination method and system - Google Patents
Inter-satellite single difference ionosphere delay determination method and system Download PDFInfo
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
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Abstract
The invention relates to a method and a system for determining single difference ionosphere delay between satellites, wherein the method comprises the following steps: performing anomaly identification on the non-differential ionospheric delay synthesis amount by utilizing a single-differential ionospheric delay short-term stabilization principle, removing the abnormal non-differential ionospheric delay synthesis amount, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification; determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to longitude and latitude, altitude angle, reference station coordinates and abnormal-identified non-difference ionosphere delay comprehensive quantity of each satellite puncture point; determining model coefficients by a least square method according to an inter-satellite single-difference ionosphere delay plane model; and the user determines the single difference ionosphere delay of any satellite pair of the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the user side satellite puncture point. Compared with the existing single-difference ionosphere delay model established by the satellite puncture points, the method can realize the determination of the single-difference ionosphere delay between satellites when the reference stations are fewer.
Description
Technical Field
The invention relates to the field of satellite communication, in particular to a method and a system for determining single difference ionosphere delay between satellites.
Background
In recent years, the demand for accurate spatial and temporal information for social production and life has evolved from rough, post, static and regional in the past to the current accurate, real-time, dynamic and global, real-time Kinematic (RTK) technology and accurate single point positioning (Precise Point Positioning, PPP) technology are becoming mature and widely used. However, the conventional PPP technology needs to wait for the convergence of the ambiguity parameters for a long time, so that the long convergence time limits the development and application of the PPP technology, and the network RTK technology still has the defects of limited coverage range in the reference network and large data communication burden, so that the PPP-RTK technology has a wide application prospect. The PPP-RTK technology utilizes the regional reference network to improve regional performance, has the advantages of short initialization time, small transmission load and the like, and the key of realizing rapid and high-precision positioning of the region by the PPP-RTK technology is the construction of a regional atmosphere delay model. The interpolation model used by the user end to interpolate the regional correction is one of the key algorithms in the regional network foundation enhancement positioning system (especially PPP-RTK positioning mode), and is a problem that the service of the foundation network enhancement system must be solved. The current common models mainly comprise a linear interpolation model, an inverse distance weighting model, a linear combination model, a low-order curved surface model and the like. These interpolation methods all construct an area atmospheric delay model based on reference station and subscriber station locations. The linear interpolation model, the inverse distance weighting model and the linear combination model all provide ionospheric delay for a user, and the low-order surface model provides a user atmospheric delay coefficient for representing the change trend of the atmospheric delay. One advantage of the low order surface model is that it has a clear mathematical meaning, i.e. the atmospheric delay is a function of the position of the reference station. The ionospheric delay extracted by the PPP-RTK reference end is often difficult to separate from errors such as receiver hardware delay, and generally provides inter-satellite single-difference ionospheric delay for users, while a low-order curved surface model established by using station positions cannot provide inter-satellite single-difference ionospheric correction coefficients. In addition, the research finds that the ionosphere delay of the user station is tighter by adopting the puncture point coordinates of the reference station and satellite station star pair.
Therefore, the method for establishing the regional inter-satellite single-difference ionosphere delay model and the supplementary inter-satellite single-difference ionosphere delay low-order curved surface model related to the satellite station star pair puncture points has important values for promoting the popularization of PPP-RTK technology and improving precision navigation positioning time service.
Disclosure of Invention
The invention aims to provide a method and a system for determining inter-satellite single-difference ionosphere delay, which can realize the determination of the inter-satellite single-difference ionosphere delay when reference stations are fewer (at least 3) compared with the existing inter-satellite single-difference ionosphere delay model established by a satellite puncture point.
In order to achieve the above object, the present invention provides the following solutions:
an inter-satellite single difference ionospheric delay determination method comprising:
acquiring the delay integration quantity of a non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station;
performing anomaly identification on the non-differential ionospheric delay synthesis amount by utilizing a single-differential ionospheric delay short-term stabilization principle, removing the abnormal non-differential ionospheric delay synthesis amount, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification;
determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal-identified non-difference ionosphere delay comprehensive quantity;
determining model coefficients by adopting a least square method according to the inter-satellite single-difference ionosphere delay plane model;
and the user side determines the single difference ionosphere delay of any satellite pair at the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the satellite puncture point at the user side.
Optionally, the method includes performing anomaly identification on the non-differential ionospheric delay synthesis amount by using a single differential ionospheric delay short-term stabilization principle, removing the non-differential ionospheric delay synthesis amount with anomalies, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification, including:
constructing a single-difference ionospheric delay according to the non-difference ionospheric delay comprehensive quantity extracted by each reference station;
predicting the single-difference ionospheric delay by utilizing a short-term stability principle of the single-difference ionospheric delay to obtain an inter-satellite single-difference ionospheric delay predicted value of a current epoch;
and carrying out anomaly identification on the single-difference ionospheric delay according to the inter-satellite single-difference ionospheric delay predicted value of the current epoch, and removing the abnormal non-difference ionospheric delay integrated quantity to obtain the non-difference ionospheric delay integrated quantity after anomaly identification.
Optionally, the determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal identified non-difference ionosphere delay integrated quantity specifically includes:
screening out common-view satellites with the total non-differential ionosphere delay amount after the anomaly identification of all reference stations;
selecting the common-view satellite with the largest altitude angle as a server-side reference satellite;
and constructing an inter-satellite single-difference ionosphere delay plane model according to the reference satellites of the server, the longitude and latitude of the satellite puncture points, the coordinates of the reference stations and the abnormal-identified non-difference ionosphere delay integration quantity.
Optionally, the user side determines a single difference ionosphere delay of any satellite pair at the user side according to the model coefficient, the reference station coordinate, the server side reference satellite and the longitude and latitude of the user side satellite puncture point, and specifically includes:
the user terminal determines a user terminal reference star according to the server terminal reference star;
the user side determines inter-satellite single difference ionosphere delay between other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side;
and the user calculates the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delay of other satellites at the user side and the reference satellite at the user side.
An inter-satellite single difference ionospheric delay determination system comprising:
the acquisition module is used for acquiring the total delay amount of the non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station;
the preprocessing module is used for carrying out anomaly identification on the non-differential ionospheric delay integration quantity by utilizing a single-differential ionospheric delay short-term stabilization principle, eliminating the non-differential ionospheric delay integration quantity with anomalies and obtaining the non-differential ionospheric delay integration quantity after anomaly identification;
the server side reference star and inter-star single difference ionosphere delay plane model determining module is used for determining a server side reference star and inter-star single difference ionosphere delay plane model according to longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal identified non-difference ionosphere delay comprehensive quantity;
the model coefficient determining module is used for determining model coefficients by adopting a least square method according to the inter-satellite single-difference ionosphere delay plane model;
and the user side single difference ionosphere delay determining module is used for determining the single difference ionosphere delay of any satellite pair of the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the user side satellite puncture point.
Optionally, the preprocessing module specifically includes:
a single-difference ionospheric delay determination unit for constructing a single-difference ionospheric delay based on the non-difference ionospheric delay integrated quantities extracted from the reference stations;
the prediction unit is used for predicting the single-difference ionospheric delay by utilizing a single-difference ionospheric delay short-term stability principle to obtain an inter-satellite single-difference ionospheric delay predicted value of the current epoch;
and the anomaly identification unit is used for carrying out anomaly identification on the single-difference ionosphere delay according to the inter-satellite single-difference ionosphere delay predicted value of the current epoch, removing the abnormal non-difference ionosphere delay integrated quantity and obtaining the non-difference ionosphere delay integrated quantity after anomaly identification.
Optionally, the server side reference star and inter-star single difference ionosphere delay plane model determining module specifically includes:
the screening unit is used for screening out common-view satellites with the total delay amount of the non-differential ionosphere after the anomaly identification of all the reference stations;
the selection unit is used for selecting the common-view satellite with the largest altitude angle as a server-side reference satellite;
the construction unit is used for constructing an inter-satellite single-difference ionosphere delay plane model according to the reference star of each server, the longitude and latitude of the satellite puncture point, the coordinates of the reference station and the abnormal-identified non-difference ionosphere delay integrated quantity.
Optionally, the ue single difference ionospheric delay determining module specifically includes:
the client reference star determining unit is used for determining the client reference star according to the server reference star by the client;
the inter-satellite single-difference ionosphere delay determining unit is used for determining inter-satellite single-difference ionosphere delay of other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side;
and the inter-satellite single difference ionosphere delay determining unit is used for calculating the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delays of other satellites at the user side and the reference satellite at the user side.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method comprises the steps of obtaining the delay integrated quantity of a non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station; performing anomaly identification on the non-differential ionospheric delay synthesis amount by utilizing a single-differential ionospheric delay short-term stabilization principle, removing the abnormal non-differential ionospheric delay synthesis amount, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification; determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal-identified non-difference ionosphere delay comprehensive quantity; determining model coefficients by adopting a least square method according to the inter-satellite single-difference ionosphere delay plane model; and the user side determines the single difference ionosphere delay of any satellite pair at the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the satellite puncture point at the user side. Compared with the existing single-difference ionosphere delay model established by the satellite puncture points, the method can realize the determination of the single-difference ionosphere delay between satellites when the reference stations are fewer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for determining single difference ionosphere delay between satellites;
FIG. 2 is a schematic diagram of a method for determining inter-satellite single difference ionospheric delay according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a method and a system for determining single-difference ionosphere delay between satellites, which can realize the determination of the single-difference ionosphere delay between satellites when reference stations are fewer.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In order to supplement the existing PPP-RTK regional ionosphere modeling method, as shown in fig. 1 and 2, the inter-satellite single difference ionosphere delay determining method provided by the invention comprises the following steps:
step 101: acquiring the delay integration quantity of a non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station; wherein the non-differential ionospheric delay is the ionospheric delay that absorbs errors such as receiver pseudorange hardware delays and UPD references.
Step 101 is data extraction. And the multi-reference station jointly adopts a PPP model to generate a UPD product so as to fix the ambiguity, and extracts the delay integration quantity of the satellite non-differential ionosphere of each reference station, the longitude and latitude and altitude angle of each satellite puncture point and the coordinates of each reference station.
Step 102: and carrying out anomaly identification on the non-differential ionospheric delay synthesis amount by utilizing a single-differential ionospheric delay short-term stabilization principle, removing the non-differential ionospheric delay synthesis amount with anomalies, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification.
Step 102, specifically includes: constructing a single-difference ionospheric delay according to the non-difference ionospheric delay comprehensive quantity extracted by each reference station; predicting the single-difference ionospheric delay by utilizing a short-term stability principle of the single-difference ionospheric delay to obtain an inter-satellite single-difference ionospheric delay predicted value of a current epoch; and carrying out anomaly identification on the single-difference ionospheric delay according to the inter-satellite single-difference ionospheric delay predicted value of the current epoch, and removing the abnormal non-difference ionospheric delay integrated quantity to obtain the non-difference ionospheric delay integrated quantity after anomaly identification.
Step 102 is data preprocessing. According to the short-term stability characteristics of the single-difference ionosphere delay, predicting the ionosphere delay of the current epoch by adopting a first-order linear model of time for the obtained ionosphere delay, performing anomaly identification and control on the actual ionosphere delay of the current epoch, and deleting the anomalous ionosphere delay to obtain the total clean non-difference ionosphere delay (with receiver hardware delay and the like). The first order linear model expression with respect to time is as follows:
in the method, in the process of the invention,representing the single differential ionospheric delay of satellites q and p, t representing time, and c representing model coefficients.
Step 103: and determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal-identified non-difference ionosphere delay comprehensive quantity.
Step 103, specifically includes: screening out common-view satellites with the total non-differential ionosphere delay amount after the anomaly identification of all reference stations; selecting the common-view satellite with the largest altitude angle as a server-side reference satellite; and constructing an inter-satellite single-difference ionosphere delay plane model according to the reference satellites of the server, the longitude and latitude of the satellite puncture points, the coordinates of the reference stations and the abnormal-identified non-difference ionosphere delay integration quantity.
Step 103 is the construction of a single-station inter-satellite single-difference ionosphere model at the server side. Firstly, screening out common-view satellites of all reference stations, selecting satellites with the largest altitude angles as reference satellites, and establishing an inter-satellite single-difference ionosphere delay model based on longitude and latitude of each satellite puncture point of the reference stations and the total non-difference ionosphere delay amount:
where r represents any reference station, q represents a server reference satellite, p represents other satellites,and->Represents the longitude and latitude of the satellite puncture point, respectively, < >>And lambda is 0 Representing the longitude and latitude of the center of the zone,/->And->A single difference ionospheric delay fit coefficient representing satellites q and p,>representing the single differential ionospheric delay for satellites q and p. The server can calculate the obtained inter-satellite single difference fitting coefficient between each satellite and the reference satellite by using at least three reference stations.
Step 104: and determining model coefficients by adopting a least square method according to the inter-satellite single difference ionosphere delay plane model.
Step 104 is multi-station joint solution model coefficients. Three or more reference stations are selected to use least squares solution model coefficients for the same satellite pair. Because the distances of the reference stations are similar, ionosphere delay change characteristics of the same satellite pairs of different reference stations are similar, and the random model adopts a unit weight array, the random model is defined as follows:
pv＝1
wherein pv is a random model.
Step 105: and the user side determines the single difference ionosphere delay of any satellite pair at the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the satellite puncture point at the user side.
Step 105 specifically includes: the user terminal determines a user terminal reference star according to the server terminal reference star; the user side determines inter-satellite single difference ionosphere delay between other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side; and the user calculates the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delay of other satellites at the user side and the reference satellite at the user side.
The single difference ionospheric delay formula is as follows:
wherein m and n represent satellites,and->Representing the total amount of non-differential ionospheric delay for satellites m and n, respectively.
When the reference star of the user side is inconsistent with the reference star of the server side in calculating the single-difference ionosphere, the user side calculates the required single-difference ionosphere delay according to the following steps:
where u represents the subscriber station, m, n represents the satellite, q represents the server reference satellite,inter-satellite single difference ionospheric delay for satellites m, n, +.>For the inter-satellite single difference ionospheric delay of satellite m and reference satellite q +.>For inter-satellite single difference ionospheric delay of satellite n and reference satellite q +.>And->For the inter-satellite single difference ionospheric delay model coefficients of satellite m and reference satellite q +.>For reference star q puncture point latitude, +.>For the latitude of the puncture point of satellite m, +.>Is the latitude, lambda of the puncture point of the satellite n n Longitude, lambda of puncture point for satellite n q Penetration point longitude for reference star q, +.>And->The inter-satellite single difference ionospheric delay model coefficients for satellite n and reference satellite q.
The method comprises the steps of data acquisition, data preprocessing, construction of a server-side single-station inter-satellite single-difference ionosphere model, multi-station joint calculation of model coefficients, calculation of five parts of required single-difference ionosphere delay by a user side, selection of the ionosphere delay difference between the satellite with the highest altitude angle and other satellites in the common satellites of all reference stations to obtain a single-difference ionosphere, establishment of the inter-satellite single-difference ionosphere model by utilizing longitude and latitude of each satellite puncture point, and final real-time estimation of model coefficients of each satellite and the reference single-difference ionosphere by least square to be transmitted to a user.
The invention has the following advantages:
first, it is guaranteed that the reference station can still provide service under fewer conditions.
The minimum number of reference stations required for the present invention is reduced compared to existing single difference ionospheric delay models built with satellite puncture points, and when there are fewer than 4 reference stations, an ionospheric delay plane model can still be built.
Secondly, the method is simple and supplements the prior art.
The technical method provided by the invention models the single satellite pair, does not need to consider the relation among the satellite pairs, has simple algorithm and easy realization, and supplements the low-order curved surface modeling method of inter-satellite single-difference ionosphere delay.
The invention also provides a system for determining single difference ionosphere delay between stars, which comprises:
the acquisition module is used for acquiring the total non-differential ionosphere delay amount, the longitude and latitude of each satellite puncture point, the altitude angle and the reference station coordinates extracted by each reference station.
And the preprocessing module is used for carrying out anomaly identification on the non-differential ionospheric delay integration quantity by utilizing a single-differential ionospheric delay short-term stabilization principle, eliminating the non-differential ionospheric delay integration quantity with anomalies and obtaining the non-differential ionospheric delay integration quantity after anomaly identification.
The server side reference star and inter-star single difference ionosphere delay plane model determining module is used for determining the server side reference star and inter-star single difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal identified non-difference ionosphere delay comprehensive quantity.
And the model coefficient determining module is used for determining the model coefficient by adopting a least square method according to the inter-satellite single difference ionosphere delay plane model.
And the user side single difference ionosphere delay determining module is used for determining the single difference ionosphere delay of any satellite pair of the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the user side satellite puncture point. .
As an alternative embodiment, the preprocessing module specifically includes:
and the single-difference ionospheric delay determining unit is used for constructing single-difference ionospheric delay according to the non-difference ionospheric delay comprehensive quantity extracted by each reference station.
And the prediction unit is used for predicting the single-difference ionospheric delay by utilizing a single-difference ionospheric delay short-term stability principle to obtain an inter-satellite single-difference ionospheric delay predicted value of the current epoch.
And the anomaly identification unit is used for carrying out anomaly identification on the single-difference ionosphere delay according to the inter-satellite single-difference ionosphere delay predicted value of the current epoch, removing the abnormal non-difference ionosphere delay integrated quantity and obtaining the non-difference ionosphere delay integrated quantity after anomaly identification.
As an alternative implementation manner, the server refers to a single-difference ionosphere delay plane model determining module between stars, and specifically includes:
and the screening unit is used for screening out the common-view satellites with the total non-differential ionospheric delay amount after the anomaly identification of all the reference stations.
And the selection unit is used for selecting the common-view satellite with the largest altitude angle as the server-side reference satellite.
The construction unit is used for constructing an inter-satellite single-difference ionosphere delay plane model according to the reference star of each server, the longitude and latitude of the satellite puncture point, the coordinates of the reference station and the abnormal-identified non-difference ionosphere delay integrated quantity.
As an optional implementation manner, the ue single difference ionospheric delay determining module specifically includes:
the client reference star determining unit is used for determining the client reference star according to the server reference star.
The inter-satellite single-difference ionosphere delay determining unit is used for determining inter-satellite single-difference ionosphere delay of other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side.
And the inter-satellite single difference ionosphere delay determining unit is used for calculating the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delays of other satellites at the user side and the reference satellite at the user side.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. An inter-satellite single difference ionospheric delay determination method, comprising:
acquiring the delay integration quantity of a non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station;
performing anomaly identification on the non-differential ionospheric delay synthesis amount by utilizing a single-differential ionospheric delay short-term stabilization principle, removing the abnormal non-differential ionospheric delay synthesis amount, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification;
determining a server-side reference star and inter-star single-difference ionosphere delay plane model according to the longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal-identified non-difference ionosphere delay comprehensive quantity;
determining model coefficients by adopting a least square method according to the inter-satellite single-difference ionosphere delay plane model;
the user determines single difference ionosphere delay of any satellite pair of the user according to the model coefficient, the reference station coordinates, the server reference star and the longitude and latitude of the satellite puncture point of the user;
firstly, screening out common-view satellites of all reference stations, selecting satellites with the largest altitude angles as reference satellites, and establishing an inter-satellite single-difference ionosphere delay model based on longitude and latitude of each satellite puncture point of the reference stations and the total non-difference ionosphere delay amount:
where r represents any reference station, q represents a server reference satellite, p represents other satellites,and->Represents the longitude and latitude of the satellite puncture point, respectively, < >>And lambda is 0 Representing the longitude and latitude of the center of the zone,/->And->A single difference ionospheric delay fit coefficient representing satellites q and p,>single differential ionospheric delay representing satellites q and p;
when the reference star of the user side is inconsistent with the reference star of the server side in calculating the single-difference ionosphere, the user side calculates the required single-difference ionosphere delay according to the following steps:
where u represents the subscriber station, m, n represents the satellite, q represents the server reference satellite,inter-satellite single difference ionospheric delay for satellites m, n, +.>For inter-satellite single difference ionospheric delay of satellite m and reference satellite q +.>For inter-satellite single difference ionospheric delay of satellite n and reference satellite q +.>And->For the inter-satellite single difference ionospheric delay model coefficients of satellite m and reference satellite q +.>For reference star q puncture point latitude, +.>For the latitude of the puncture point of satellite m, +.>Is the latitude, lambda of the puncture point of the satellite n n Longitude, lambda of puncture point for satellite n q Penetration point longitude for reference star q, +.>And->The inter-satellite single difference ionospheric delay model coefficients for satellite n and reference satellite q.
2. The method for determining inter-satellite single-difference ionospheric delay according to claim 1, wherein the performing anomaly identification on the non-differential ionospheric delay synthesis amount by using a single-difference ionospheric delay short-term stabilization principle, removing the non-differential ionospheric delay synthesis amount having anomalies, and obtaining the non-differential ionospheric delay synthesis amount after anomaly identification specifically comprises:
constructing a single-difference ionospheric delay according to the non-difference ionospheric delay comprehensive quantity extracted by each reference station;
predicting the single-difference ionospheric delay by utilizing a short-term stability principle of the single-difference ionospheric delay to obtain an inter-satellite single-difference ionospheric delay predicted value of a current epoch;
and carrying out anomaly identification on the single-difference ionospheric delay according to the inter-satellite single-difference ionospheric delay predicted value of the current epoch, and removing the abnormal non-difference ionospheric delay integrated quantity to obtain the non-difference ionospheric delay integrated quantity after anomaly identification.
3. The method for determining single-difference ionosphere delay between satellites according to claim 1, wherein determining a server-side reference single-difference ionosphere delay plane model between satellites according to longitude and latitude of each of the satellite puncture points, the altitude angle, the reference station coordinates and the non-difference ionosphere delay integrated quantity after anomaly identification specifically comprises:
screening out common-view satellites with the total non-differential ionosphere delay amount after the anomaly identification of all reference stations;
selecting the common-view satellite with the largest altitude angle as a server-side reference satellite;
and constructing an inter-satellite single-difference ionosphere delay plane model according to the reference satellites of the server, the longitude and latitude of the satellite puncture points, the coordinates of the reference stations and the abnormal-identified non-difference ionosphere delay integration quantity.
4. The method for determining single-difference ionospheric delay between satellites according to claim 1, wherein the determining the single-difference ionospheric delay between any pair of satellites at the user terminal according to the model coefficient, the reference station coordinates, the reference satellites at the server terminal, and the longitude and latitude of the satellite puncture point at the user terminal comprises:
the user terminal determines a user terminal reference star according to the server terminal reference star;
the user side determines inter-satellite single difference ionosphere delay between other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side;
and the user calculates the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delay of other satellites at the user side and the reference satellite at the user side.
5. An inter-satellite single difference ionospheric delay determination system, comprising:
the acquisition module is used for acquiring the total delay amount of the non-differential ionosphere extracted by each reference station, the longitude and latitude of each satellite puncture point, the altitude angle and the coordinates of the reference station;
the preprocessing module is used for carrying out anomaly identification on the non-differential ionospheric delay integration quantity by utilizing a single-differential ionospheric delay short-term stabilization principle, eliminating the non-differential ionospheric delay integration quantity with anomalies and obtaining the non-differential ionospheric delay integration quantity after anomaly identification;
the server side reference star and inter-star single difference ionosphere delay plane model determining module is used for determining a server side reference star and inter-star single difference ionosphere delay plane model according to longitude and latitude of each satellite puncture point, the altitude angle, the reference station coordinates and the abnormal identified non-difference ionosphere delay comprehensive quantity;
the model coefficient determining module is used for determining model coefficients by adopting a least square method according to the inter-satellite single-difference ionosphere delay plane model;
the user side single difference ionosphere delay determining module is used for determining the single difference ionosphere delay of any satellite pair of the user side according to the model coefficient, the reference station coordinates, the server side reference star and the longitude and latitude of the satellite puncture point of the user side;
firstly, screening out common-view satellites of all reference stations, selecting satellites with the largest altitude angles as reference satellites, and establishing an inter-satellite single-difference ionosphere delay model based on longitude and latitude of each satellite puncture point of the reference stations and the total non-difference ionosphere delay amount:
where r represents any reference station, q represents a server reference satellite, p represents other satellites,and->Represents the longitude and latitude of the satellite puncture point, respectively, < >>And lambda is 0 Representing the longitude and latitude of the center of the zone,/->And->A single difference ionospheric delay fit coefficient representing satellites q and p,>single differential ionospheric delay representing satellites q and p;
when the reference star of the user side is inconsistent with the reference star of the server side in calculating the single-difference ionosphere, the user side calculates the required single-difference ionosphere delay according to the following steps:
where u represents the subscriber station, m, n represents the satellite, q represents the server reference satellite,inter-satellite single difference ionospheric delay for satellites m, n, +.>For inter-satellite single difference ionospheric delay of satellite m and reference satellite q +.>For inter-satellite single difference ionospheric delay of satellite n and reference satellite q +.>And->For the inter-satellite single difference ionospheric delay model coefficients of satellite m and reference satellite q +.>For reference star q puncture point latitude, +.>For the latitude of the puncture point of satellite m, +.>Is the latitude, lambda of the puncture point of the satellite n n Longitude, lambda of puncture point for satellite n q Penetration point longitude for reference star q, +.>And->The inter-satellite single difference ionospheric delay model coefficients for satellite n and reference satellite q.
6. The inter-satellite single difference ionospheric delay determination system of claim 5, wherein the preprocessing module comprises:
a single-difference ionospheric delay determination unit for constructing a single-difference ionospheric delay based on the non-difference ionospheric delay integrated quantities extracted from the reference stations;
the prediction unit is used for predicting the single-difference ionospheric delay by utilizing a single-difference ionospheric delay short-term stability principle to obtain an inter-satellite single-difference ionospheric delay predicted value of the current epoch;
and the anomaly identification unit is used for carrying out anomaly identification on the single-difference ionosphere delay according to the inter-satellite single-difference ionosphere delay predicted value of the current epoch, removing the abnormal non-difference ionosphere delay integrated quantity and obtaining the non-difference ionosphere delay integrated quantity after anomaly identification.
7. The system of claim 5, wherein the server-side reference star and inter-star single difference ionospheric delay plane model determining module specifically comprises:
the screening unit is used for screening out common-view satellites with the total delay amount of the non-differential ionosphere after the anomaly identification of all the reference stations;
the selection unit is used for selecting the common-view satellite with the largest altitude angle as a server-side reference satellite;
the construction unit is used for constructing an inter-satellite single-difference ionosphere delay plane model according to the reference star of each server, the longitude and latitude of the satellite puncture point, the coordinates of the reference station and the abnormal-identified non-difference ionosphere delay integrated quantity.
8. The system of claim 5, wherein the client single difference ionospheric delay determination module comprises:
the client reference star determining unit is used for determining the client reference star according to the server reference star by the client;
the inter-satellite single-difference ionosphere delay determining unit is used for determining inter-satellite single-difference ionosphere delay of other satellites of the user side and the reference satellite of the user side according to the model coefficient, the reference station coordinates, the longitude and latitude of the puncture point of the satellite of the user side and the reference satellite of the user side; the other satellites at the user side are satellites observed at the user side except the reference satellite at the user side;
and the inter-satellite single difference ionosphere delay determining unit is used for calculating the inter-satellite single difference ionosphere delay of any satellite pair at the user side according to the inter-satellite single difference ionosphere delays of other satellites at the user side and the reference satellite at the user side.
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