CN115267844A - Target reference satellite determination method and device, electronic equipment and storage medium - Google Patents

Abstract

The application discloses a method and a device for determining a target reference satellite, electronic equipment and a storage medium. The target reference satellite determining method comprises the following steps: acquiring satellite information of a plurality of reference stars to be selected, wherein the satellite information comprises the altitude angle of the reference stars to be selected, floating point filter ionosphere parameters of the reference stars to be selected and ionosphere correction numbers of the reference stars to be selected; calculating the satellite information of the reference satellite to be selected aiming at each reference satellite to be selected to obtain the weighted ionospheric residual error of the reference satellite to be selected; and for each reference satellite to be selected, determining the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation under the condition that the weighted ionospheric residual corresponding to the reference satellite to be selected meets a preset condition. By the adoption of the target reference satellite determining method, the accurate reference satellite can be selected by referring to a plurality of factors, and the technical problem that a positioning result is large in deviation due to inaccurate reference satellite selection in the prior art is solved.

Description

Target reference star determination method, device, electronic equipment and storage medium

technical field

The present application relates to satellite navigation technology, in particular to a method, device, electronic equipment and storage medium for determining a target reference star.

Background technique

With the rapid development of satellite navigation technology, Global Navigation Satellite System (Global NAvigationSatellite System, GNSS) is playing an increasingly important role in people's daily life. Among them, Precise Point Psitioning (PPP) is a hot research topic now.

By receiving corrections such as orbit and clock deviation broadcast by the server, PPP can achieve real-time centimeter-level positioning accuracy after converging for about 20 minutes, and this technology has no regional restrictions, and the positioning accuracy can be uniform on a global scale. It has been widely used in many fields such as measurement. However, the convergence time of this technology is slow and the accuracy is limited. At present, most of the precise positioning is achieved through the single-difference ionospheric constraint PPP method, and in the application of single-difference ionospheric constraint PPP, the selection of reference stars is very important.

At present, in the application of single-difference ionosphere-constrained PPP, when selecting the reference star, the reference star is mostly selected by the altitude angle of the satellite, but this way of selecting the reference star will lead to inaccurate selection of the reference star, which will lead to positioning The results showed large deviations.

Contents of the invention

The purpose of the embodiment of the present application is to provide a target reference star determination method, device, electronic equipment and storage medium, which can refer to multiple factors to select an accurate reference star, and solve the problem of inaccurate reference star selection in the prior art, which leads to A technical problem where there is a large deviation in the positioning results.

The technical scheme of the application is as follows:

In the first aspect, a method for determining a target reference star is provided, the method is applied to ionospheric single-difference calculations, and the method includes:

Acquiring satellite information of a plurality of reference stars to be selected, wherein the satellite information includes the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected, and the ionization of the reference star to be selected layer correction number;

For each of the reference stars to be selected, the satellite information of the reference stars to be selected is calculated to obtain the weighted ionospheric residual of the reference stars to be selected;

For each reference star to be selected, when the weighted ionospheric residual corresponding to the reference star to be selected satisfies a preset condition, determine that the reference star to be selected is used for ionospheric single difference calculation The target reference star for .

In a second aspect, a device for determining a target reference star is provided, the method is used for ionospheric single-difference calculation, and the device includes:

A satellite information acquisition module, configured to acquire satellite information of a plurality of reference stars to be selected, wherein the satellite information includes the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected and the The ionospheric correction number of the above reference star;

A weighted ionospheric residual determination module, configured to calculate the satellite information of the candidate reference star for each of the candidate reference stars to obtain the weighted ionospheric residual of the candidate reference star;

A target reference star determining module, configured to, for each of the reference stars to be selected, determine the reference star to be selected when the weighted ionospheric residual corresponding to the reference star to be selected satisfies a preset condition is the target reference star for ionospheric single-difference calculations.

In a third aspect, an embodiment of the present application provides an electronic device, the electronic device includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, and the program or instruction is The processor implements the steps of the method for determining a target reference star described in any embodiment of the present application when executed.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the goal described in any embodiment of the application is achieved Steps of the reference star determination method.

The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

The technical solution of the embodiment of the present application obtains satellite information of at least one reference star to be selected, wherein the satellite information includes at least two items as follows: the altitude angle of the reference star to be selected, the floating-point filter ionosphere of the reference star to be selected parameters and the ionospheric correction number of the reference star; for each reference star to be selected, according to the satellite information of the reference star to be selected, the weighted ionospheric residual of the reference star to be selected is obtained, and for each reference star to be selected, the When the weighted ionospheric residual of the reference star satisfies the preset condition, the candidate reference star is determined to be the target reference star for ionospheric single difference calculation. In this way, by obtaining multiple satellite information of the reference star to be selected, based on the multiple satellite information, the target reference star is selected, so that multiple factors are considered to select the target reference star, and the obtained target reference star is accurate, solving the problems in the prior art Only relying on the altitude angle to select the target reference star will result in inaccurate selection of the target reference star, which may lead to a large deviation in the positioning results.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The accompanying drawings here are incorporated into the specification and constitute a part of the specification, show the embodiment consistent with the application, and are used together with the specification to explain the principle of the application, and do not constitute an improper limitation of the application.

Fig. 1 is a schematic flow diagram 1 of a method for determining a target reference star provided by an embodiment of the present application;

Fig. 2 is a schematic flow diagram II of a method for determining a target reference star provided by an embodiment of the present application;

Fig. 3 is a schematic flow chart of gross error checking and screening of the weighted ionospheric residual corresponding to the reference star to be selected according to the embodiment of the present application;

Fig. 4 is a schematic structural diagram of a device for determining a target reference star provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In order to enable ordinary persons in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only intended to explain the present application rather than limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples consistent with aspects of the application as recited in the appended claims.

Based on the background technology, it can be known that PPP can achieve real-time centimeter-level positioning accuracy after converging for about 20 minutes by receiving corrections such as orbit and clock deviation broadcast by the server, and this technology has no regional restrictions and can achieve global positioning accuracy uniform. At present, the precise positioning is mostly achieved by the single-difference ionosphere-constrained PPP method, but in the application of single-difference ionosphere-constrained PPP, the selection of reference stars is very important.

At present, in the application of single-difference ionosphere-constrained PPP, when selecting the reference star, the reference star is mostly selected by the altitude angle of the satellite, but this way of selecting the reference star will lead to inaccurate selection of the reference star, which will lead to positioning The results showed large deviations.

In order to solve the problem in the prior art that only relying on the altitude angle to select the reference star leads to inaccurate selection of the reference star, which in turn leads to large deviations in the results of precise point positioning, the embodiment of the present application provides a method for determining the target reference star , with specific reference to the following embodiments, based on the target reference star determination method, the precise determination of the reference star can be determined, and the precise positioning of the precise point positioning can be realized.

In an example, the target reference star determination method provided in the embodiment of the present application can be applied to ionospheric single difference calculation. Please refer to Fig. 1, the method for determining the target reference star provided by the embodiment of the present application may specifically include the following steps:

S110. Obtain satellite information of multiple reference stars to be selected, wherein the satellite information includes the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected, and the ionospheric correction number of the reference star to be selected.

Wherein, the reference star to be selected may be a reference star to be selected.

For each reference star to be selected, there is corresponding satellite information, wherein the satellite information may be reference parameter information for determining whether the reference star to be selected can be used as a target reference star. Specifically, the satellite information may include the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected, and the ionospheric correction number of the reference star to be selected. Wherein, the target reference star may be a finally determined reference star for precise single point positioning.

In an example, the satellite information corresponding to each reference star to be selected may be obtained through a server, and the information of each satellite will be played on the server. The specific method of acquiring satellite information corresponding to each candidate reference star belongs to the prior art, and will not be described in detail here.

In this way, the multiple satellite information of the reference star to be selected is obtained, and the target reference star is jointly determined based on the multiple satellite information. The target reference star determined in this way is more accurate, and subsequent precise single-point positioning can be accurately performed based on the target reference star. It solves the technical problem in the prior art that the selection of the reference star is inaccurate, which leads to a large deviation in the positioning result.

S120. For each reference star to be selected, calculate the satellite information of the reference star to be selected to obtain a weighted ionospheric residual of the reference star to be selected.

For each reference star to be selected, the satellite information of the reference star to be selected can be calculated to obtain the weighted ionospheric residual of the reference star to be selected.

In an example, the satellite information of the reference star to be selected may be calculated based on a preset algorithm to obtain the weighted ionospheric residual of the reference star to be selected.

In another example, the neural network model based on deep learning can also be used to calculate the satellite information of the reference star to be selected to obtain the weighted ionospheric residual of the reference star to be selected.

S130. For each reference star to be selected, if the weighted ionospheric residual corresponding to the reference star to be selected satisfies a preset condition, determine the reference star to be selected as a target reference star for ionospheric single difference calculation.

Wherein, the preset condition may be a preset condition to be satisfied by the weighted ionospheric residual corresponding to the reference star to be selected.

The target reference star may be a reference star finally determined from multiple candidate reference stars for precise single-point positioning.

After the weighted ionospheric residuals of each candidate reference star are determined, the candidate reference star whose weighted ionospheric residual satisfies the preset condition is determined as the target reference star. After the target reference star is determined, the target reference star is used for ionospheric single difference calculation.

After the target reference star is determined, it can be used for ionospheric single difference calculation based on the target reference star, and based on the calculation result of ionospheric single difference calculation, precise single point positioning can be realized. Specifically, based on the target reference star, it is used for ionospheric single-difference calculation. Based on the calculation result of ionospheric single-difference calculation, precise single-point positioning can be realized, which belongs to the prior art and will not be described in detail here.

The technical solution of the embodiment of the present application obtains the satellite information of multiple reference stars to be selected, wherein the satellite information includes: the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected and the The ionospheric correction number of the reference star; for each reference star to be selected, according to the satellite information of the reference star to be selected, the weighted ionospheric residual of the reference star to be selected is obtained, and for each reference star to be selected, in the reference star to be selected In the case that the weighted ionospheric residuals satisfy the preset conditions, the candidate reference star is determined to be the target reference star for ionospheric single difference calculation. In this way, by obtaining multiple satellite information of the reference star to be selected, based on the multiple satellite information, the target reference star is selected, so that multiple factors are considered to select the target reference star, and the obtained target reference star is accurate, solving the problems in the prior art Only relying on the altitude angle to select the target reference star will result in inaccurate selection of the target reference star, which may lead to a large deviation in the positioning results.

In order to describe in detail the method of determining the weighted ionospheric residual of the reference star to be selected, the embodiment of the present application also provides another implementation method of the target reference star, specifically, it can be used to describe in detail the weighted ionization of the reference star to be selected For the method of determining the layer residual, please refer to the following embodiments for details.

When calculating the satellite information of the reference star to be selected to obtain the weighted ionospheric residual of the reference star to be selected, it is specifically calculated according to the altitude angle of the reference star to be selected.

In one example, the weighted ionospheric residual of the reference star to be selected is calculated according to the altitude angle of the reference star to be selected. To calculate the weighted ionospheric residuals of the reference stars to be selected respectively.

Specifically, the following two cases may be included: The first case is: when the altitude angle of the reference star to be selected is greater than or equal to the preset altitude angle, a method is used to calculate the weighted ionospheric residual of the reference star to be selected. The second case is: when the altitude angle of the reference star to be selected is smaller than the preset altitude angle, another method is used to calculate the weighted ionospheric residual of the reference star to be selected.

Specifically, S120 includes the following steps:

S1201. In the case that the altitude angle of the reference star to be selected is greater than or equal to the preset altitude angle, obtain the weighted ionospheric residual of the reference star to be selected based on the floating-point filter ionospheric parameter and the ionospheric correction number.

Wherein, the preset altitude angle may be a preset altitude angle.

For a reference star to be selected, when the altitude angle of the candidate is greater than or equal to the preset altitude angle, the weighted ionization value of the reference star to be selected can be obtained based on the floating-point filter ionospheric parameters and the ionospheric correction number layer residuals.

In an example, specifically, the weighted ionospheric residual of the candidate reference star can be obtained by using the following formula 1 based on the floating-point filter ionospheric parameter and the ionospheric correction number of the candidate reference star.

S1202. If the altitude angle of the reference star to be selected is smaller than the preset altitude angle, obtain the weighted ionospheric residual of the reference star to be selected based on the floating-point filter ionospheric parameters, the ionospheric correction number, and the altitude angle.

For a reference star to be selected, if the altitude angle to be selected is less than the preset altitude angle, the ionospheric parameters, ionospheric correction number and altitude angle can be filtered by floating point to obtain the weighted ionization value of the reference star to be selected layer residuals.

In an example, specifically, the weighted ionospheric residual of the candidate reference star can be obtained by using the following formula 1 based on the floating-point filter ionospheric parameters, ionospheric correction number, and altitude angle of the candidate reference star.

Among them, ion _filter is the floating-point filter ionospheric parameter; ion _model is the ionospheric correction number; elev is the altitude angle; 30 is the preset altitude angle.

It should be noted that in Formula 1, 30 is only an example of the preset altitude angle in the embodiment of the present application, and it does not mean that the preset altitude angle is 30. The preset altitude angle may be estimated by those skilled in the art based on the acquired altitude angles of each candidate reference star, or determined by those skilled in the art based on prior experience. Those skilled in the art should know that the preset altitude angles determined by those skilled in the art based on a priori experience, or the preset altitude angles estimated by those skilled in the art based on the obtained altitude angles of each candidate reference star, belong to the The list of the protection of the embodiment of the present application.

In this way, when calculating the weighted ionospheric residual of each reference star to be selected, it is calculated based on the satellite information of the reference star to be selected, that is, when calculating the weighted ionospheric residual of the reference star to be selected, multiple factor, so that the subsequent target reference star determined based on the weighted ionospheric residual also refers to multiple factors, not just the factor of altitude angle, so that the target reference star determined in this way is more accurate, and then based on the target reference star The precise single-point positioning performed by the satellite is also more accurate.

In the technical solution of the embodiment of the present application, the weighted ionospheric residual of the candidate reference star is determined by referring to the satellite information of the candidate reference star, so when calculating the weighted ionospheric residual of the candidate reference star, multiple In this way, the subsequent target reference star determined based on the weighted ionospheric residual also refers to multiple factors, not just the factor of altitude angle, so that the target reference star determined in this way is more accurate, and then based on the target Precise point positioning with a reference star is also more accurate.

In the above embodiment, after the weighted ionospheric residuals of each candidate reference star are determined, the candidate reference star whose weighted ionospheric residual satisfies a preset condition may be determined as the target reference star.

In order to describe in detail the process of determining the candidate reference star whose weighted ionospheric residual meets the preset conditions as the target reference star, the embodiment of the present application also provides another implementable method of the target reference star determination method, which can be specifically Describe the process of determining the candidate reference star whose weighted ionospheric residual meets the preset conditions as the target reference star.

Calculating the satellite information of the reference star to be selected to obtain the weighted ionospheric residual of the reference star to be selected may specifically include the following steps:

1301. Perform gross error check and screening on the weighted ionospheric residuals corresponding to the reference stars to be selected.

Referring to Fig. 2, after obtaining the weighted ionospheric residuals corresponding to the reference stars to be selected, the gross error check can be performed on the weighted ionospheric residuals corresponding to the reference stars to be selected, and the The reference stars to be selected are screened, and the reference stars to be selected that are not gross errors are screened.

The specific outlier checking and screening of the weighted ionospheric residuals corresponding to the reference stars to be selected will be described in detail in subsequent embodiments, and will not be described in detail here.

1302. For each reference star to be selected after gross error checking and screening, when the altitude angle satisfies the first preset condition and the weighted ionospheric residual corresponding to the reference star to be selected satisfies the second preset condition, determine The reference star to be selected is the target reference star for ionospheric single difference calculation.

The first preset condition may be a condition to be satisfied by a preset altitude angle.

The second preset condition may be a preset condition that the weighted ionospheric residual corresponding to the reference star to be selected needs to meet.

After checking the gross errors of the weighted ionospheric residuals corresponding to the reference stars to be selected, the candidate reference stars that are not coarse errors are screened out, and then the altitude angles of the candidate reference stars that are not gross errors are determined to satisfy the first A candidate reference star whose weighted ionospheric residual corresponding to a preset condition satisfies a second preset condition is a target reference star for ionospheric single difference calculation.

In one example, when the altitude angle satisfies the first preset condition and the weighted ionospheric residual corresponding to the candidate reference star satisfies the second preset condition, it is determined that the candidate reference star is used for ionospheric single difference calculation The target reference star may specifically be: select the candidate reference star whose elevation angle is greater than the preset threshold and whose corresponding weighted ionospheric residual is the smallest in the second set of weighted ionospheric residuals as the target reference star for ionospheric single difference calculation .

Wherein, the preset threshold may be a preset altitude angle threshold.

It should be noted that the preset threshold here may be estimated by those skilled in the art based on the acquired elevation angles of each candidate reference star, or may be determined by those skilled in the art based on prior experience. Those skilled in the art should know that the preset altitude angles determined by those skilled in the art based on a priori experience, or the preset altitude angles estimated by those skilled in the art based on the obtained altitude angles of each candidate reference star, belong to the The list of the protection of the embodiment of the present application.

After the candidate reference stars that are not gross errors are determined, the altitude angles of the candidate reference stars that are not gross errors are greater than the preset threshold, and the corresponding weighted ionospheric residuals in the second set of weighted ionospheric residuals are the smallest The candidate reference star for is the target reference star for ionospheric single difference calculation.

In the technical solution of the embodiment of the present application, by performing gross error verification and screening on the weighted ionospheric residuals corresponding to the reference stars to be selected, each reference star to be selected after the gross error verification and screening satisfies the first In the case of a preset condition and the weighted ionospheric residual corresponding to the reference star to be selected satisfies the second preset condition, the reference star to be selected is determined to be the target reference star for ionospheric single-difference calculation, so that multiple factors are considered comprehensively , to determine the target reference star, the obtained target reference star is more accurate, and then the subsequent precise single-point positioning based on the target reference star is also more accurate.

In the above-mentioned embodiment, it is introduced that the weighted ionospheric residual corresponding to the reference star to be selected is checked and screened for gross error, in order to describe in detail how to check and screen the weighted ionospheric residual corresponding to the reference star , the embodiment of the present application provides another implementable manner of the method for determining the target reference star, for details, refer to the following embodiments.

In the embodiment of the present application, the weighted ionospheric residuals corresponding to the reference stars to be selected are checked and screened for gross errors. For details, refer to the steps shown in Figure 3:

S1: Summarize the weighted ionospheric residuals corresponding to the reference stars to be selected to obtain a first set of weighted ionospheric residuals.

S2: Obtain target values in the first weighted ionospheric residual set; determine a second weighted ionospheric residual set based on each weighted ionospheric residual in the first weighted ionospheric residual set and the target value.

S3: Perform gross error check on the second weighted ionospheric residual set.

S4: When any weighted ionospheric residual in the second set of weighted ionospheric residuals is gross, delete the weighted ionospheric residual corresponding to the gross error from the first set of weighted ionospheric residuals to obtain the updated A first set of weighted ionospheric residuals.

Steps S2 to S4 are cyclically executed with the updated first set of weighted ionospheric residuals until each weighted ionospheric residual in the second set of weighted ionospheric residuals is not a gross error, and the corresponding candidate reference star.

Wherein, the first set of weighted ionospheric residuals may be a set formed by weighted ionospheric residuals corresponding to each candidate reference star.

The target value may be a selected value in the first set of weighted ionospheric residuals. For example, it can be the median of each weighted ionospheric residual in the first weighted ionospheric residual set, or the average number of each weighted ionospheric residual in the first weighted ionospheric residual set, or the first The standard deviation of each weighted ionospheric residual in the set of weighted ionospheric residuals, etc.

The second set of weighted ionospheric residuals may be a set of weighted ionospheric residuals determined based on each weighted ionospheric residual in the first set of weighted ionospheric residuals and a target value.

In an example, the second set of weighted ionospheric residuals may specifically be determined based on the following manner: determining the difference between each weighted ionospheric residual in the first set of weighted ionospheric residuals and the corresponding target value, The absolute value of the difference is taken, and the absolute values are summed up to obtain a second set of weighted ionospheric residuals.

After obtaining the weighted ionospheric residuals corresponding to the reference stars to be selected, the weighted ionospheric residuals corresponding to the reference stars to be selected are first summarized to obtain a first set of weighted ionospheric residuals.

Then, the target value in the first weighted ionospheric residual set is obtained, for example, it may be the median in the first weighted ionospheric residual set, and each weighted ionospheric residual in the first weighted ionospheric residual set is determined For the difference with the corresponding target value, the absolute value of the difference is taken, and the absolute values are summed up to obtain the second set of weighted ionospheric residuals.

Then, a gross error check is performed on the second set of weighted ionospheric residuals.

In an example, the specific manner of performing gross error check on the second set of weighted ionospheric residuals may be: firstly, according to each weighted ionospheric residual in the first set of weighted ionospheric residuals, determine the gross error check The scale factor factor and the maximum residual threshold maxres. Then the target value m2 of the second weighted ionospheric residual set is obtained. Then for each weighted ionospheric residual in the second set of weighted ionospheric residuals (for example, may be represented by res_abs[i]), if res_abs[i]>factor*m2, and res_abs[i]>maxres, Then it is determined that the weighted ionospheric residual is a gross error. In this way, each weighted ionospheric residual in the second set of weighted ionospheric residuals is looped through, and it is judged whether each weighted ionospheric residual in the second set of weighted ionospheric residuals is gross error.

It should be noted that the target value of the second weighted ionospheric residual set corresponds to the target value in the first weighted ionospheric residual set, that is, if the target value in the first weighted ionospheric residual set is the first If is the median of the first weighted ionospheric residual set, the target value of the second weighted ionospheric residual set is also the median of the second weighted ionospheric residual set. If the target value in the first set of weighted ionospheric residuals is the average of the first set of weighted ionospheric residuals, then the target value of the second set of weighted ionospheric residuals is also the average of the second set of weighted ionospheric residuals number. If the target value in the first set of weighted ionospheric residuals is the standard deviation of the first set of weighted ionospheric residuals, then the target value of the second set of weighted ionospheric residuals is also the standard deviation of the second set of weighted ionospheric residuals Difference.

It should be noted that the above scale factor and the maximum residual threshold are determined based on the properties of each weighted ionospheric residual, and the specific method of determining the scale factor and the maximum residual threshold based on the properties of the weighted ionospheric residual It belongs to the prior art and will not be described in detail here.

Then, after traversing through the weighted ionospheric residuals in the second weighted ionospheric residual set, determine whether each weighted ionospheric residual in the second weighted ionospheric residual set is a gross error, and determine whether it is coarse The poor weighted ionospheric residuals are deleted from the first set of weighted ionospheric residuals to obtain an updated first set of weighted ionospheric residuals.

Finally, the steps S2 to S4 are cyclically executed with the updated first set of weighted ionospheric residuals until each weighted ionospheric residual in the second set of weighted ionospheric residuals is not gross, and then the obtained Poor candidate reference star.

In this way, the gross error check and screening of the weighted ionospheric residual corresponding to the reference star to be selected can be realized through the above method.

In the above embodiment, the stop condition of the loop execution is that each weighted ionospheric residual in the second set of weighted ionospheric residuals is not a gross error.

In another example, the stop condition for loop execution may also be that the loop is stopped when the number of loop iterations exceeds a preset first threshold.

Wherein, the preset first threshold may be a preset number of loop iterations. The preset first threshold here can be set according to user requirements, and is not limited here.

In another example, when the stop condition of the loop execution is that the number of iterations of the loop exceeds a preset first threshold, the target reference star may be determined only according to the altitude angle. Specifically, a candidate reference star whose elevation angle is greater than a preset threshold may be determined as a target reference star.

Two kinds of loop stop conditions are set in this way, in order to avoid in order to make each weighted ionospheric residual error in the second weighted ionospheric residual error set not be gross error and go on endlessly forever, if promptly in order to avoid after looping thousands of times, There is still no guarantee that each weighted ionospheric residual in the second set of weighted ionospheric residuals is not a gross error, and if this continues indefinitely, computing resources will be wasted. In order to avoid wasting computing resources, it can be set that when the number of loop iterations exceeds the preset first threshold, the target reference star can be determined only based on the altitude angle, so as to ensure that the target reference star can be determined no matter what the situation is.

Based on the method for determining a target reference star provided in the above embodiments, correspondingly, the present application also provides specific implementations of a device for determining a target reference star. For the specific implementation of the device for determining a target reference star provided in this application, please refer to the following examples.

Referring first to Fig. 4, the target reference star determination device provided by the present application may specifically include the following modules:

A satellite information acquisition module 410, configured to acquire satellite information of a plurality of reference stars to be selected, wherein the satellite information includes: the altitude angle of the reference star to be selected, the floating-point filter ionospheric parameters of the reference star to be selected and the ionospheric correction number of the reference star to be selected;

A weighted ionospheric residual determination module 420, configured to calculate the satellite information of the candidate reference star for each of the candidate reference stars to obtain the weighted ionospheric residual of the candidate reference star;

The target reference star determining module 430 is configured to, for each of the candidate reference stars, determine the candidate reference star when the weighted ionospheric residual corresponding to the candidate reference star satisfies a preset condition. The star is the target reference star for ionospheric single difference calculation.

In the technical solution of the embodiment of the present application, the satellite information of a plurality of reference stars to be selected is acquired through a satellite information acquisition module, wherein the satellite information includes: the altitude angle of the reference star to be selected, the floating-point filter ionization of the reference star to be selected layer parameters and the ionospheric correction number of the reference star to be selected; for each reference star to be selected, the weighted ionospheric residual of the reference star to be selected is obtained according to the satellite information of the reference star to be selected based on the weighted ionospheric residual determination module, Based on the target reference star determination module, for each candidate reference star, if the weighted ionospheric residual of the candidate reference star satisfies the preset condition, determine the candidate reference star as the target reference star for ionospheric single difference calculation . In this way, by obtaining multiple satellite information of the reference star to be selected, based on the multiple satellite information, the target reference star is selected, and multiple factors are considered to select the target reference star, and the obtained target reference star is accurate, solving the problems in the prior art Only relying on the altitude angle to select the target reference star will result in inaccurate selection of the target reference star, which may lead to a large deviation in the positioning results.

As an implementation of the present application, in order to obtain the weighted ionospheric residual of the reference star to be selected, the weighted ionospheric residual determining module 420 may specifically include the following units:

The first weighted ionospheric residual determination unit is configured to, based on the floating-point filter ionospheric parameters and the ionospheric correction number, when the altitude angle of the reference star to be selected is greater than or equal to a preset altitude angle, Obtaining the weighted ionospheric residual of the candidate reference star;

A second weighted ionospheric residual determination unit, configured to filter the ionospheric parameters based on the floating-point filter, the ionospheric correction number and The altitude angle is used to obtain the weighted ionospheric residual of the candidate reference star.

As an implementation of the present application, in order to determine the reference star to be selected as the target reference star when the weighted ionospheric residual corresponding to the reference star to be selected satisfies the preset condition, the above-mentioned target reference star determination module 430 It can specifically include the following units:

a gross error checking unit, configured to perform gross error checking and screening on the weighted ionospheric residual corresponding to the reference star to be selected;

The target reference star determination unit is configured to, for each of the reference stars to be selected after gross error checking and screening, satisfy the first preset condition at the altitude angle and the weighted ionospheric residual corresponding to the reference star to be selected When the difference satisfies the second preset condition, it is determined that the candidate reference star is a target reference star for ionospheric single difference calculation.

As an implementation of the present application, in order to realize the gross error verification and screening of the weighted ionospheric residual corresponding to the reference star to be selected, the gross error verification unit can be specifically used for:

S1: Summarize the weighted ionospheric residuals corresponding to the reference stars to be selected to obtain a first set of weighted ionospheric residuals;

S2: Obtain a target value in the first weighted ionospheric residual set; determine a second weighted value based on each of the weighted ionospheric residuals in the first weighted ionospheric residual set and the target value set of ionospheric residuals;

S3: Perform gross error check on the second weighted ionospheric residual set;

S4: When any weighted ionospheric residual in the second set of weighted ionospheric residuals is a coarse error, delete the weighted ionospheric residual corresponding to the coarse error from the first set of weighted ionospheric residuals, obtain the updated first weighted ionospheric residual set;

Steps S2 to S4 are cyclically executed with the updated first set of weighted ionospheric residuals until each weighted ionospheric residual in the second set of weighted ionospheric residuals is not a gross error, and the corresponding Describe the reference star to be selected.

As an implementation of the present application, in order to avoid endless looping in order to make each weighted ionospheric residual in the second set of weighted ionospheric residuals not a gross error, S2 to S4 in the above gross error checking unit When the number of cycles exceeds the preset first threshold, the cycle is stopped and the target reference star is determined only according to the altitude angle.

As an implementation of the present application, S2 in the gross error checking unit further includes: determining the difference between each weighted ionospheric residual in the first set of weighted ionospheric residuals and the corresponding target value, for The difference is an absolute value, and the absolute values are summed up to obtain the second weighted ionospheric residual set.

As an implementation of the present application, in order to describe in detail how to determine the target reference star, the target reference star determination unit can be specifically used for:

Selecting a candidate reference star whose altitude angle is greater than a preset threshold and whose corresponding weighted ionospheric residual is the smallest in the second set of weighted ionospheric residuals is the target reference star for ionospheric single difference calculation.

In one example, the target value includes any one of the following: mean, median and standard deviation.

The device for determining the target reference star provided in the embodiments of the present application can be used to implement the methods for determining the target reference star provided in the above method embodiments. The implementation principle and technical effect are similar, and for the sake of brief introduction, details are not repeated here.

Based on the same inventive concept, the embodiment of the present application also provides an electronic device.

Fig. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 5 , the electronic device may include a processor 501 and a memory 502 storing computer programs or instructions.

Specifically, the above-mentioned processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits in the embodiments of the present invention.

Memory 502 may include mass storage for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (Hard Disk Drive, HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (Universal Serial Bus, USB) drive or two or more Combinations of multiple of the above. Storage 502 may include removable or non-removable (or fixed) media, where appropriate. Under appropriate circumstances, the storage 502 may be inside or outside the comprehensive gateway disaster recovery device. In a particular embodiment, memory 502 is a non-volatile solid-state memory. In particular embodiments, memory 502 includes read-only memory (ROM). Where appropriate, the ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or A combination of two or more of the above.

The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any method for determining a target reference star in the above-mentioned embodiments.

In one example, the electronic device may further include a communication interface 503 and a bus 510 . Wherein, as shown in FIG. 5 , the processor 501 , the memory 502 , and the communication interface 503 are connected through a bus 510 to complete mutual communication.

The communication interface 503 is mainly used to realize the communication between various modules, devices, units and/or devices in the embodiment of the present invention.

Bus 510 includes hardware, software, or both, and couples the components of the electronic device to each other. By way of example and not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), HyperTransport (HT) interconnect, Industry Standard Architecture (ISA) Bus, Infiniband Interconnect, Low Pin Count (LPC) Bus, Memory Bus, Micro Channel Architecture (MCA) Bus, Peripheral Component Interconnect (PCI) Bus, PCI-Express (PCI-X) Bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or a combination of two or more of these. Bus 510 may comprise one or more buses, where appropriate. Although embodiments of the invention describe and illustrate a particular bus, the invention contemplates any suitable bus or interconnect.

The electronic device can execute the method for determining a target reference star in the embodiment of the present invention, thereby realizing the method for determining a target reference star described in any one of FIGS. 1-3 .

In addition, in combination with the method for determining the target reference star in the foregoing embodiments, the embodiment of the present invention may provide a readable storage medium for implementation. The readable storage medium stores program instructions; when the program instructions are executed by the processor, any method for determining the target reference star in the above-mentioned embodiments is realized.

It is to be understood that the invention is not limited to the specific arrangements and processes described above and shown in the drawings. For conciseness, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the sequence of steps after understanding the spirit of the present invention.

The functional blocks shown in the structural block diagrams described above may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the invention are the programs or code segments employed to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted over transmission media or communication links by data signals carried in carrier waves. "Machine-readable medium" may include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. Code segments may be downloaded via a computer network such as the Internet, an Intranet, or the like.

It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.

The above is only a specific implementation of the present invention, and those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described systems, modules and units can refer to the foregoing method embodiments The corresponding process in , will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should cover all Within the protection scope of the present invention.

Claims (11)

1. A method for determining a target reference satellite, the method being used for ionospheric single difference calculation, the method comprising:

acquiring satellite information of a plurality of reference stars to be selected, wherein the satellite information comprises the altitude angle of the reference stars to be selected, floating point filter ionospheric parameters of the reference stars to be selected and ionospheric correction numbers of the reference stars to be selected;

calculating the satellite information of the reference satellite to be selected aiming at each reference satellite to be selected to obtain a weighted ionospheric residual error of the reference satellite to be selected;

and for each reference satellite to be selected, determining the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation under the condition that the weighted ionospheric residual corresponding to the reference satellite to be selected meets a preset condition.

2. The method according to claim 1, wherein the calculating the satellite information of the candidate reference satellite to obtain a weighted ionospheric residual error of the candidate reference satellite comprises:

under the condition that the altitude angle of the reference satellite to be selected is greater than or equal to a preset altitude angle, obtaining a weighted ionospheric residual error of the reference satellite to be selected based on the floating point filtering ionospheric parameter and the ionospheric correction number;

and under the condition that the altitude angle of the reference satellite to be selected is smaller than the preset altitude angle, obtaining the weighted ionospheric residual error of the reference satellite to be selected based on the floating point filtering ionospheric parameter, the ionospheric correction number and the altitude angle.

3. The method according to claim 1, wherein the determining that the reference satellite to be selected is a target reference satellite for ionospheric single difference calculation when the weighted ionospheric residual corresponding to the reference satellite to be selected satisfies a preset condition includes:

carrying out gross error check and screening on the weighted ionospheric residual errors corresponding to the reference satellite to be selected;

and aiming at each reference satellite to be selected after coarse difference verification and screening, under the condition that the altitude angle meets a first preset condition and the weighted ionospheric residual error corresponding to the reference satellite to be selected meets a second preset condition, determining the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation.

4. The method according to claim 3, wherein the coarse error checking and screening the weighted ionospheric residuals corresponding to the reference satellite to be selected comprises:

s1: summarizing the weighted ionospheric residuals corresponding to each reference satellite to be selected to obtain a first weighted ionospheric residual set;

s2: acquiring a target value in the first weighted ionospheric residual set; determining a second weighted ionospheric residual set based on each of the weighted ionospheric residuals in the first weighted ionospheric residual set and the target value;

s3: performing gross error check on the second weighted ionospheric residual set;

s4: when any weighted ionospheric residual in the second set of weighted ionospheric residuals is a coarse difference, deleting the weighted ionospheric residual corresponding to the coarse difference from the first set of weighted ionospheric residuals to obtain an updated first set of weighted ionospheric residuals;

and circularly executing the steps S2 to S4 by using the updated first weighted ionospheric residual set until each weighted ionospheric residual in the second weighted ionospheric residual set is not a gross error, and acquiring the corresponding reference satellite to be selected.

5. The method according to claim 4, characterized in that, when the number of cycles of cyclically executing steps S2-S4 exceeds a preset first threshold, the cycle is stopped and the target reference star is determined only according to the altitude angle.

6. The method of claim 4, wherein the step S2 further comprises:

and determining the difference value between each weighted ionospheric residual error in the first weighted ionospheric residual error set and the corresponding target value, taking the absolute value of the difference value, and summarizing each absolute value to obtain the second weighted ionospheric residual error set.

7. The method according to claim 4, wherein the determining that the reference satellite to be selected is a target reference satellite used for ionospheric single difference calculation when the altitude angle satisfies a first preset condition and the ionospheric residual error corresponding to the satellite to be referred satisfies a second preset condition includes:

and selecting a reference satellite to be selected with the height angle larger than a preset threshold value and the corresponding weighted ionosphere residual error in the second weighted ionosphere residual error set being the minimum as a target reference satellite for ionosphere single difference calculation.

8. The method according to any one of claims 4 or 6, wherein the target value comprises any one of: mean, median and standard deviation.

9. A target reference star determination apparatus, the apparatus comprising:

the satellite information acquisition module is used for acquiring satellite information of a plurality of reference satellites to be selected, wherein the satellite information comprises: the altitude angle of the reference satellite to be selected, the floating point filtering ionospheric parameter of the reference satellite to be selected and the ionospheric correction number of the reference satellite to be selected;

the weighted ionospheric residual error determination module is used for calculating the satellite information of the reference satellite to be selected aiming at each reference satellite to be selected to obtain a weighted ionospheric residual error of the reference satellite to be selected;

and the target reference satellite determining module is used for determining each reference satellite to be selected as a target reference satellite for ionospheric single difference calculation under the condition that the weighted ionospheric residual corresponding to the reference satellite to be selected meets a preset condition.

10. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the target reference star determination method of any one of claims 1 to 8.

11. A readable storage medium, characterized in that it stores thereon a program or instructions which, when executed by a processor, implement the steps of the target reference star determination method according to any one of claims 1 to 8.

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