CN115267844A - Target reference satellite determination method and device, electronic equipment and storage medium - Google Patents
Target reference satellite determination method and device, electronic equipment and storage medium Download PDFInfo
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- CN115267844A CN115267844A CN202110484729.0A CN202110484729A CN115267844A CN 115267844 A CN115267844 A CN 115267844A CN 202110484729 A CN202110484729 A CN 202110484729A CN 115267844 A CN115267844 A CN 115267844A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The 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
Technical Field
The application relates to a satellite navigation technology, in particular to a method and a device for determining a target reference satellite, electronic equipment and a storage medium.
Background
With the rapid development of Satellite NAvigation technology, a Global NAvigation Satellite System (GNSS) plays an increasingly important role in the daily life of people. Among them, precision Point Positioning (PPP) is a hot issue of research.
PPP can realize real-time centimeter-level positioning accuracy after convergence for about 20 minutes by receiving track and correction numbers such as clock error deviation and the like broadcast by a server, and the technology has no regional limitation and can realize uniform positioning accuracy in a global range, thereby being widely applied to various fields such as large-scale measurement and the like. However, the technology has slow convergence time and limited precision, at present, precise positioning is mostly realized by a single difference ionosphere constraint PPP method, and in the application of the single difference ionosphere constraint PPP, the selection of a reference satellite is very important.
At present, in the application of single difference ionosphere constrained PPP, when a reference satellite is selected, the reference satellite is mostly selected through the altitude angle of the satellite, but the reference satellite selection method may cause inaccurate reference satellite selection, and further cause a large deviation in a positioning result.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for determining a target reference satellite, electronic equipment and a storage medium, which can select an accurate reference satellite by referring to a plurality of factors and solve the technical problem that a positioning result has larger deviation due to inaccurate reference satellite selection in the prior art.
The technical scheme of the application is as follows:
in a first aspect, a method for determining a target reference satellite is provided, and the method is applied to ionospheric single-difference calculation, and includes:
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 error corresponding to the reference satellite to be selected meets a preset condition.
In a second aspect, there is provided a target reference satellite determination apparatus, the method for ionospheric single-difference calculation, the apparatus comprising:
the satellite information acquisition module is used for 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, the floating point filtering ionospheric parameters of the reference stars to be selected and the ionospheric correction number of the reference stars;
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 the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation under the condition that the weighted ionospheric residual error corresponding to the reference satellite to be selected meets a preset condition for each reference satellite to be selected.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the steps of the target reference satellite determination method according to any embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instructions are stored, and when the program or instructions are executed by a processor, the program or instructions implement the steps of the target reference satellite determination method according to any embodiment of the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
according to the technical scheme of the embodiment of the application, satellite information of at least one reference satellite to be selected is obtained, wherein the satellite information comprises at least two of the following items: the method comprises the following steps of (1) selecting an altitude angle of a reference satellite to be selected, floating point filtering ionospheric parameters of the reference satellite to be selected and ionospheric correction numbers of the reference satellite; and for each reference satellite to be selected, obtaining a weighted ionospheric residual error of the reference satellite to be selected according to the satellite information of the reference satellite to be selected, and determining the reference satellite to be selected as a target reference satellite for ionospheric homodyne calculation under the condition that the weighted ionospheric residual error of the reference satellite to be selected meets a preset condition. Therefore, the target reference satellite is selected by acquiring the information of the plurality of satellites of the reference satellite to be selected and based on the information of the plurality of satellites, the target reference satellite is selected by considering a plurality of factors, and the obtained target reference satellite is accurate, so that the problems that in the prior art, the target reference satellite is selected inaccurately only by depending on the altitude angle, and the positioning result is possibly subjected to larger deviation are solved.
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.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application and are not to be construed as limiting the application.
Fig. 1 is a first flowchart illustrating a method for determining a target reference satellite according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a second method for determining a target reference satellite according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart illustrating a process of performing gross error checking and screening on a weighted ionospheric residual error corresponding to a reference satellite to be selected according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a target reference satellite determination apparatus provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art 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 with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting. 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 merely intended to provide a better understanding of the present application by illustrating examples thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples consistent with certain aspects of the present application, as detailed in the appended claims.
Based on the background technology, PPP can realize real-time centimeter-level positioning accuracy after convergence for about 20 minutes by receiving correction numbers such as orbit and clock error deviation broadcasted by a server, and the technology has no regional limitation and can realize uniform positioning accuracy in a global range. Currently, accurate positioning is mostly realized through a single difference ionosphere constrained PPP method, and in the application of the single difference ionosphere constrained PPP, selection of a reference satellite is very important.
At present, in the application of single difference ionosphere constrained PPP, when a reference satellite is selected, the reference satellite is mostly selected through the altitude angle of the satellite, but the reference satellite selection method may cause inaccurate reference satellite selection, and further cause a large deviation in a positioning result.
In order to solve the problem that in the prior art, a reference satellite is selected only by depending on a height angle, which causes inaccurate selection of the reference satellite and further causes a large deviation of a precise point positioning result, an embodiment of the application provides a method for determining a target reference satellite.
In one example, the target reference satellite determination method provided by the embodiment of the application can be applied to ionospheric single difference calculation. Referring to fig. 1, the method for determining a target reference satellite provided in the embodiment of the present application may specifically include the following steps:
s110, satellite information of a plurality of reference stars to be selected is obtained, 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.
The reference star to be selected may be the reference star to be selected.
And for each candidate reference satellite, corresponding satellite information exists, wherein the satellite information can be reference parameter information used for determining whether the candidate reference satellite can be used as a target reference satellite. Specifically, the satellite information may include an altitude of the reference satellite to be selected, a floating point filter ionospheric parameter of the reference satellite to be selected, and an ionospheric correction number of the reference satellite to be selected. Wherein, the target reference star can be a finally determined reference star used for precise point positioning.
In one example, the satellite information corresponding to each candidate reference satellite may be obtained through a server, and each satellite information may be played at the server. A specific method for acquiring satellite information corresponding to each reference satellite to be selected belongs to the prior art, and details are not described here.
Therefore, the information of a plurality of satellites of the reference satellite to be selected is obtained, the target reference satellite is determined based on the information of the plurality of satellites, the determined target reference satellite is more accurate, and precise point positioning can be accurately performed based on the target reference satellite. The method and the device solve the technical problem that in the prior art, the reference star is not accurately selected, so that the positioning result has large deviation.
And S120, calculating 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 aiming at each reference satellite to be selected, calculating the satellite information of the reference satellite to be selected to obtain the weighted ionospheric residual error of the reference satellite to be selected.
In one example, the satellite information of the reference satellite to be selected may be calculated based on a preset algorithm, so as to obtain a weighted ionospheric residual error of the reference satellite to be selected.
In another example, the satellite information of the reference satellite to be selected may also be calculated based on a deep learning neural network model, so as to obtain a weighted ionospheric residual error of the reference satellite to be selected.
S130, for each reference satellite to be selected, under the condition that the weighted ionospheric residual error corresponding to the reference satellite to be selected meets a preset condition, determining the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation.
The preset condition may be a preset condition to be satisfied by a weighted ionospheric residual corresponding to a reference satellite to be selected.
The target reference star may be a reference star finally determined from a plurality of candidate reference stars for precise point positioning.
And after the weighted ionospheric residual error of each candidate reference satellite is determined, determining the candidate reference satellite of which the weighted ionospheric residual error meets the preset condition as a target reference satellite. And after the target reference star is determined, utilizing the target reference star for ionospheric single difference calculation.
After the target reference satellite is determined, the method can be used for ionospheric single-difference calculation based on the target reference satellite, and can realize precise single-point positioning based on the calculation result of the ionospheric single-difference calculation. The method specifically uses the target reference satellite for ionospheric single-difference calculation, and based on the calculation result of the ionospheric single-difference calculation, the precise single-point positioning can be realized, which belongs to the prior art and is not described in detail herein.
According to the technical scheme of the embodiment of the application, satellite information of a plurality of reference satellites to be selected is obtained, wherein the satellite information comprises: the method comprises the following steps of (1) enabling the altitude angle of a reference satellite to be selected, the floating point filtering ionospheric parameters of the reference satellite to be selected and the ionospheric correction number of the reference satellite to be selected; and for each reference satellite to be selected, obtaining a weighted ionospheric residual error of the reference satellite to be selected according to the satellite information of the reference satellite to be selected, and determining the reference satellite to be selected as a target reference satellite for ionospheric homodyne calculation under the condition that the weighted ionospheric residual error of the reference satellite to be selected meets a preset condition. Therefore, the target reference satellite is selected by acquiring the information of the plurality of satellites of the reference satellite to be selected and based on the information of the plurality of satellites, the target reference satellite is selected by considering a plurality of factors, and the obtained target reference satellite is accurate, so that the problem that the target reference satellite is not accurately selected and a positioning result is possibly greatly deviated due to the fact that the target reference satellite is selected only by means of a height angle in the prior art is solved.
In order to describe in detail the determination manner of the weighted ionospheric residual of the candidate reference satellite, an embodiment of the present application further provides another implementation manner of the target reference satellite, which may specifically be a determination manner for describing in detail the weighted ionospheric residual of the candidate reference satellite, and specifically refer to the following embodiments.
When satellite information of a reference satellite to be selected is calculated to obtain a weighted ionosphere residual error of the reference satellite to be selected, the calculation is specifically performed according to the altitude angle of the reference satellite to be selected.
In an example, the weighted ionospheric residual error of the reference satellite to be selected is calculated according to the altitude angle of the reference satellite to be selected, specifically, an altitude angle may be preset, and the weighted ionospheric residual error of the reference satellite to be selected is calculated according to the relationship between the altitude angle of the reference satellite to be selected and the preset altitude angle.
Specifically, the following two cases may be included: the first case is: and when the altitude angle of the reference satellite to be selected is greater than or equal to the preset altitude angle, calculating the weighted ionospheric residual error of the reference satellite to be selected by adopting a mode. The second case is: and when the altitude angle of the reference satellite to be selected is smaller than the preset altitude angle, calculating the weighted ionospheric residual error of the reference satellite to be selected in another mode.
Specifically, S120 includes the following steps:
and S1201, under the condition that the altitude angle of the reference satellite to be selected is larger than or equal to the preset altitude angle, obtaining the weighted ionospheric residual error of the reference satellite to be selected based on the floating point filtering ionospheric parameters and the ionospheric correction numbers.
Wherein the preset height angle may be a preset height angle.
For a certain reference satellite to be selected, under the condition that the altitude angle to be selected is greater than or equal to the preset altitude angle, the weighted ionospheric residual error of the reference satellite to be selected can be obtained based on the floating point filtering ionospheric parameters and the ionospheric correction numbers.
In one example, specifically, the weighted ionospheric residual error of the candidate reference satellite may be obtained by using the following formula 1 based on the floating-point filtered ionospheric parameters and the ionospheric correction number of the candidate reference satellite.
And S1202, 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 filter ionospheric parameters, the ionospheric correction number and the altitude angle.
For a certain reference satellite to be selected, under the condition that the altitude angle to be selected is smaller than the preset altitude angle, the ionospheric parameter, the ionospheric correction number and the altitude angle can be filtered in a floating manner, and the weighted ionospheric residual error of the reference satellite to be selected is obtained.
In one example, specifically, the weighted ionospheric residual error of the candidate reference satellite may be obtained by using the following formula 1 based on the floating point filtered ionospheric parameter, the ionospheric correction number, and the elevation angle of the candidate reference satellite.
Wherein, ionfilterFiltering ionospheric parameters for floating points; ionmodelIs the ionospheric correction number; elev is the height angle; 30 is a preset elevation angle.
It should be noted that, in formula 1, 30 is only an example of the preset height angle in the embodiment of the present application, and does not represent that the preset height angle is 30. The preset altitude angle may be estimated by a person skilled in the art based on the obtained altitude angle of each reference star to be selected, or may be determined by the person skilled in the art according to a priori experience. It should be understood by those skilled in the art that the preset altitude angle determined by those skilled in the art according to a priori experience or estimated by those skilled in the art based on the acquired altitude angle of each candidate reference star belongs to the protection of the embodiments of the present application.
Therefore, when the weighted ionospheric residual error of each reference satellite to be selected is calculated, calculation is performed based on the satellite information of the reference satellite to be selected, namely, a plurality of factors are referred to when the weighted ionospheric residual error of the reference satellite to be selected is calculated, so that a target reference satellite determined based on the weighted ionospheric residual error subsequently also refers to a plurality of factors, not only refers to one factor of an altitude angle, and the determined target reference satellite is more accurate, and further, accurate single-point positioning based on the target reference satellite is more accurate.
According to the technical scheme of the embodiment of the application, the weighted ionospheric residual error of the reference satellite to be selected is determined by referring to the satellite information of the reference satellite to be selected, so that a plurality of factors are referred to when the weighted ionospheric residual error of the reference satellite to be selected is calculated, and a target reference satellite determined subsequently based on the weighted ionospheric residual error also refers to a plurality of factors, not only refers to one factor of an altitude angle, so that the determined target reference satellite is more accurate, and further, the accurate single-point positioning based on the target reference satellite is more accurate.
In the above embodiment, after the weighted ionospheric residual of each candidate reference satellite is determined, the candidate reference satellite whose weighted ionospheric residual satisfies the preset condition may be determined as the target reference satellite.
In order to describe in detail the process of determining the candidate reference satellite whose weighted ionospheric residual meets the preset condition as the target reference satellite, the embodiment of the present application further provides another implementable manner of the target reference satellite determining method, and specifically may describe the process of determining the candidate reference satellite whose weighted ionospheric residual meets the preset condition as the target reference satellite.
Calculating the satellite information of the reference satellite to be selected to obtain a weighted ionospheric residual error of the reference satellite to be selected, which may specifically include the following steps:
1301. and carrying out gross error check and screening on the weighted ionospheric residual errors corresponding to the reference stars to be selected.
Referring to fig. 2, after the weighted ionospheric residual error corresponding to each reference satellite to be selected is obtained, coarse error checking may be performed on the weighted ionospheric residual error corresponding to each reference satellite to be selected, and each reference satellite to be selected after coarse error checking is screened, so as to obtain a reference satellite to be selected that is not coarse error.
Specifically, the weighted ionospheric residuals corresponding to the reference satellite to be selected are subjected to coarse error checking and screening, which are described in detail in the following embodiments, and are not described in detail here.
1302. And aiming at each reference satellite to be selected after coarse difference verification and screening, determining the reference satellite to be selected as a target reference satellite for ionospheric single difference calculation 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.
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 satellite to be selected needs to be satisfied.
After coarse difference check is carried out on weighted ionospheric residuals corresponding to each reference satellite to be selected, the reference satellite to be selected which is not coarse difference is obtained through screening, and then the reference satellite to be selected which is not coarse difference and of which the altitude angle meets a first preset condition and the weighted ionospheric residuals corresponding to the reference satellite to be selected meet a second preset condition is determined to be a target reference satellite used for ionospheric single difference calculation.
In an example, when the altitude angle satisfies a first preset condition and the weighted ionospheric residual error corresponding to the reference satellite to be selected satisfies a second preset condition, determining that the reference satellite to be selected is a target reference satellite used for ionospheric single-difference calculation, which may specifically be: 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.
Wherein the preset threshold may be a preset threshold of the altitude angle.
It should be noted that the preset threshold may be estimated by those skilled in the art based on the obtained altitude angle of each candidate reference star, or may be determined by those skilled in the art based on a priori experience. It should be understood by those skilled in the art that the preset elevation angle determined by those skilled in the art from a priori experience, or estimated by those skilled in the art based on the acquired elevation angle of each candidate reference star, all belong to the protection of the embodiments of the present application.
After the reference satellite to be selected which is not in the gross error is determined, the altitude angle of the reference satellite to be selected which is not in the gross error is larger than a preset threshold, and the reference satellite to be selected which is corresponding to the second weighted ionosphere residual set and has the smallest weighted ionosphere residual error is the target reference satellite used for ionosphere single difference calculation.
According to the technical scheme, the weighted ionospheric residuals corresponding to the reference stars to be selected are subjected to coarse difference check and screening, and each reference star to be selected after coarse difference check and screening is determined to be the target reference star used for ionospheric single difference calculation under the condition that the altitude angle meets a first preset condition and the weighted ionospheric residuals corresponding to the reference stars to be selected meet a second preset condition.
In the above embodiment, coarse error checking and screening are performed on the weighted ionospheric residuals corresponding to the reference satellite to be selected, and in order to describe in detail how to perform coarse error checking and screening on the weighted ionospheric residuals corresponding to the reference satellite to be selected, another implementation manner of the target reference satellite determination method is provided in the embodiment of the present application, which may be specifically referred to in the following embodiments.
In the embodiment of the present application, the coarse error checking and screening are performed on the weighted ionospheric residuals corresponding to the reference satellite to be selected, and specifically, the steps shown in fig. 3 may be performed:
s1: and 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 a first weighted ionospheric residual set; and determining a second weighted ionospheric residual set based on each weighted ionospheric residual in the first weighted ionospheric residual set and the target value.
S3: and performing coarse error check on the second weighted ionospheric residual set.
S4: and when any weighted ionospheric residual in the second weighted ionospheric residual set is a gross error, deleting the weighted ionospheric residual corresponding to the gross error from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set.
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.
The first weighted ionospheric residual set may be a set formed by weighted ionospheric residuals corresponding to each candidate reference satellite.
The target values may be values in a selected first set of weighted ionospheric residues. For example, the median of each weighted ionospheric residual in the first set of weighted ionospheric residuals, the average of each weighted ionospheric residual in the first set of weighted ionospheric residuals, the standard deviation of each weighted ionospheric residual in the first set of weighted ionospheric residuals, or the like may be used.
The second set of weighted ionospheric residuals may be a set of weighted ionospheric residuals determined based on respective weighted ionospheric residuals of the first set of weighted ionospheric residuals and the target values.
In one example, the second set of weighted ionospheric residuals can be specifically determined based on: 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 a second weighted ionospheric residual error set.
After the weighted ionospheric residuals corresponding to each candidate reference satellite are obtained, firstly, the weighted ionospheric residuals corresponding to each candidate reference satellite are summarized to obtain a first weighted ionospheric residual set.
Then, a target value in the first weighted ionospheric residue set is obtained, for example, a median in the first weighted ionospheric residue set, a difference between each weighted ionospheric residue in the first weighted ionospheric residue set and the corresponding target value is determined, an absolute value is taken from the difference, and each absolute value is summarized to obtain a second weighted ionospheric residue set.
A coarse error check is then performed on the second set of weighted ionospheric residues.
In one example, a specific way to perform coarse error checking on the second weighted ionospheric residue set may be: firstly, according to each weighted ionospheric residual in a first weighted ionospheric residual set, a scaling factor of coarse error checking and a maximum residual threshold maxres are determined. Then, a target value m2 of a second set of weighted ionospheric residues is obtained. Then, for each weighted ionospheric residual in the second set of weighted ionospheric residuals (which can be represented by res _ abs [ i ], for example), if res _ abs [ i ] > factor m2 and res _ abs [ i ] > maxres, then the weighted ionospheric residual is determined to be a coarse difference. And circularly traversing each weighted ionospheric residual in the second weighted ionospheric residual set in the above way, and judging whether each weighted ionospheric residual in the second weighted ionospheric residual set is a coarse difference.
It should be noted that the target values of the second weighted ionospheric residue set correspond to the target values of the first weighted ionospheric residue set, that is, if the target values of the first weighted ionospheric residue set are the median of the first weighted ionospheric residue set, the target values of the second weighted ionospheric residue set are also the median of the second weighted ionospheric residue set. If the target value in the first set of weighted ionospheric residues is the average of the first set of weighted ionospheric residues, then the target value in the second set of weighted ionospheric residues is also the average of the second set of weighted ionospheric residues. If the target value in the first weighted set of ionospheric residues is the standard deviation of the first weighted set of ionospheric residues, then the target value in the second weighted set of ionospheric residues is also the standard deviation of the second weighted set of ionospheric residues.
It should be noted that the above-mentioned scaling factor and the maximum residual threshold are determined based on the property of each weighted ionospheric residual, and a specific manner of determining the scaling factor and the maximum residual threshold based on the property of the weighted ionospheric residual belongs to the prior art, and is not described in detail herein.
And then, after the second weighted ionospheric residual set is traversed circularly, determining whether each weighted ionospheric residual in the second weighted ionospheric residual set is a gross error, and deleting the weighted ionospheric residual determined as the gross error from the first weighted ionospheric residual set to obtain an updated first weighted ionospheric residual set.
And finally, 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 gross error, and then acquiring the reference stars to be selected which are not gross error.
Therefore, through the mode, the gross error checking and screening of the weighted ionospheric residual errors corresponding to the reference satellite to be selected can be realized.
In the above embodiment, the loop execution is stopped if each weighted ionospheric residual in the second set of weighted ionospheric residuals is not gross error.
In another example, the stop condition for loop execution may be that the loop is stopped when the number of loop iterations exceeds a preset first threshold.
Wherein, the preset first threshold value may be a preset number of loop iterations. The preset first threshold may be set according to a user requirement, and is not limited herein.
In another example, when the stop condition of the loop execution is that the number of loop iterations exceeds a preset first threshold, the target reference star may be determined only in terms of altitude angle. Specifically, the candidate reference star with the altitude angle greater than the preset threshold may be determined as the target reference star.
Two circulation stop conditions are set so as to avoid endless circulation for each weighted ionospheric residual in the second weighted ionospheric residual set not to be gross error, and if the situation is avoided that each weighted ionospheric residual in the second weighted ionospheric residual set is not gross error after being circulated for thousands of times, the situation is not guaranteed to be gross error, and thus, the calculation resources are wasted after endless circulation. In order to avoid wasting computing resources, when the number of times of the loop iteration exceeds a preset first threshold value, the target reference star can be determined only according to the altitude angle, so that the target reference star can be determined under any condition.
Based on the method for determining a target reference satellite provided in the foregoing embodiment, correspondingly, the present application also provides a specific implementation of the device for determining a target reference satellite.
Referring first to fig. 4, the target reference satellite determining apparatus provided in the present application may specifically include the following modules:
a satellite information obtaining module 410, configured to obtain satellite information of a plurality of candidate reference satellites, where the satellite information includes: 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;
a weighted ionospheric residual error determination module 420, configured to calculate, for each reference satellite to be selected, the satellite information of the reference satellite to be selected, so as to obtain a weighted ionospheric residual error of the reference satellite to be selected;
the target reference satellite determining module 430 is configured to determine, for each reference satellite to be selected, that the reference satellite to be selected is a target reference satellite used for ionospheric single difference calculation when the weighted ionospheric residual error corresponding to the reference satellite to be selected meets a preset condition.
According to the technical scheme of the embodiment of the application, satellite information of a plurality of reference satellites to be selected is obtained through a satellite-information-based obtaining module, wherein the satellite information comprises: the method comprises the following steps of (1) enabling the altitude angle of a reference satellite to be selected, the floating point filtering ionospheric parameters of the reference satellite to be selected and the ionospheric correction number of the reference satellite to be selected; and the target-reference-based residual error determination module determines the reference satellite to be selected as a target reference satellite for ionospheric single-difference calculation under the condition that the weighted ionospheric residual error of the reference satellite to be selected meets a preset condition. Therefore, the target reference satellite is selected by acquiring the information of the plurality of satellites of the reference satellite to be selected and based on the information of the plurality of satellites, the target reference satellite is selected by considering a plurality of factors, and the obtained target reference satellite is accurate, so that the problems that in the prior art, the target reference satellite is selected inaccurately only by depending on the altitude angle, and the positioning result is possibly subjected to larger deviation are solved.
As an implementation manner of the present application, in order to obtain a weighted ionospheric residual of a reference satellite to be selected, the weighted ionospheric residual determining module 420 may specifically include the following units:
a first weighted ionospheric residual error determination unit, configured to, when the altitude angle of the reference satellite to be selected is greater than or equal to a preset altitude angle, obtain a weighted ionospheric residual error of the reference satellite to be selected based on the floating-point filtered ionospheric parameter and the ionospheric correction number;
and the second weighted ionospheric residual error determination unit is used for 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 under the condition that the altitude angle of the reference satellite to be selected is smaller than the preset altitude angle.
As an implementation manner of the present application, in order to determine the candidate reference satellite as the target reference satellite when the weighted ionospheric residual error corresponding to the candidate reference satellite meets a preset condition, the target reference satellite determining module 430 may specifically include the following units:
the gross error checking unit is used for performing gross error checking and screening on the weighted ionospheric residual errors corresponding to the reference satellite to be selected;
and the target reference satellite determining unit is used for determining each reference satellite to be selected after coarse difference checking and screening as a target reference satellite for ionospheric single difference calculation 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.
As an implementation manner of the present application, in order to implement coarse error checking and screening of the weighted ionospheric residuals corresponding to the reference satellite to be selected, the coarse error checking unit may specifically be configured to:
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 set of weighted ionospheric residuals based on each of the weighted ionospheric residuals in the first set of weighted ionospheric residuals and the target values;
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.
As an implementation manner of the present application, in order to avoid infinite loop for each weighted ionospheric residual in the second set of weighted ionospheric residuals without coarse difference, when the number of loop times of S2 to S4 in the coarse difference check unit exceeds a preset first threshold, the loop is stopped and the target reference satellite is determined only according to the altitude angle.
As an implementation manner of the present application, the coarse error checking unit S2 further includes: 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.
As an implementation manner of the present application, to describe in detail how to determine the target reference star, the target reference star determining unit may specifically be configured to:
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.
In one example, the target value includes any one of: mean, median and standard deviation.
The target reference satellite determining apparatus provided in the embodiment of the present application may be configured to execute the target reference satellite determining method provided in each of the above method embodiments, and the implementation principle and the technical effect are similar, and for the sake of brevity, no further description is given here.
Based on the same inventive concept, the embodiment of the application also provides the electronic equipment.
Fig. 5 is a schematic structural diagram of an electronic device according to 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 processor 501 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any one of the target reference satellite determination methods in the above embodiments.
In one example, the electronic device can also include a communication interface 503 and a bus 510. As shown in fig. 5, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 to complete communication therebetween.
The communication interface 503 is mainly used for implementing communication between modules, devices, units and/or devices in the embodiments of the present invention.
Bus 510 includes hardware, software, or both to couple the components of the electronic device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 510 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
The electronic device may execute the target reference satellite determining method in the embodiment of the present invention, so as to implement the target reference satellite determining method described in any one of fig. 1 to fig. 3.
In addition, in combination with the target reference satellite determination method in the foregoing embodiment, the embodiment of the present invention may be implemented by providing a readable storage medium. The readable storage medium has program instructions stored thereon; the program instructions, when executed by a processor, implement any one of the above-described embodiments of the target reference star determination method.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams 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, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium 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 so forth. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments noted in this patent 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-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the 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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