CN115792963B - Ionosphere correction method based on GIM model, electronic equipment and storage medium - Google Patents
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Abstract
The invention provides an ionosphere correction method based on a GIM model, electronic equipment and a storage medium, which comprise the following steps: s1, transmitting GNSS observation data to a global ionosphere model GIM; s2, constructing a three-dimensional ionosphere rapid model through a global ionosphere model GIM and an ionosphere experience model; s3, performing ionosphere correction on the three-dimensional ionosphere rapid model. The invention has the beneficial effects that: ionosphere correction for global satellite navigation observations at different elevation angles on satellite platforms of different orbital heights; the obtained three-dimensional electron density with high precision and high resolution can be used for researching transmission characteristics of radio signals and monitoring electromagnetic environment abnormality.
Description
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to an ionosphere correction method based on a GIM model, electronic equipment and a storage medium.
Background
Classical ionospheric effect correction methods include two types: 1. for a dual-frequency receiver, the method can be used for constructing a non-ionosphere cancellation ionosphere influence; 2. the total amount of path electrons can be corrected for the ground-based single frequency receiver, typically by combining the global ionosphere model (global ionosphere model, GIM) with the projection function. For ionosphere correction of global satellite navigation (global navigation satellites system, GNSS) observations at different elevation angles on satellite platforms with different orbit heights, the GIM model is not suitable for the ionosphere correction method by combining a projection function, and therefore, the method is proposed to track a path of a transmitting end-receiving end based on a three-dimensional ionosphere grid to obtain the total quantity of electrons so as to carry out subsequent ionosphere influence correction.
Disclosure of Invention
In view of the above, the present invention is directed to an ionospheric correction method, an electronic device and a storage medium based on a GIM model, so as to solve the problem that an ionospheric empirical model such as a global reference ionosphere (intelnational reference ionosphere, IRI) model has a bias in an ionospheric top structure when the GIM model is not adapted to ionospheric data correction under complex conditions in combination with a projection function.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
an ionosphere correction method based on a GIM model comprises the following steps:
s1, transmitting GNSS observation data to a global ionosphere model GIM;
s2, constructing a three-dimensional ionosphere rapid model through a global ionosphere model GIM and an ionosphere experience model;
s3, performing ionosphere correction on the three-dimensional ionosphere rapid model.
Further, the ionospheric empirical model in step S2 is an IRI model.
Further, the building of the three-dimensional ionosphere rapid model in step S2 includes the steps of:
s21, obtaining a global ionosphere model GIM real-time product;
s22, calculating and storing a three-dimensional grid time sequence of the IRI model;
s23, combining the global ionosphere model GIM real-time product and the three-dimensional grid time sequence of the IRI model to calculate and obtain the three-dimensional ionosphere rapid model.
Further, the calculating a three-dimensional ionosphere fast model in step S23 includes the following steps:
wherein ,for IRI model->In horizontal grid->Vertical electron total at ∈ ->Is a grid vertical interval;
s232, calculating the global ionosphere model GIM and IRI model in the horizontal gridProportional coefficient between vertical electron totals +.>:
wherein ,for global ionosphere model GIM and IRI model in horizontal grid +.>Proportional coefficient between vertical electron populations, +.>Horizontal grid +.>Vertical electron total amount->For IRI model->In horizontal grid->Vertical electron count at the location;
s233, correcting the IRI model electron density by using the vertical electron total amount proportionality coefficient;
wherein ,is the ionosphere model under the global ionosphere model GIM auxiliary IRI at fixed momentElectron density at the grid, +.>For global ionosphere model GIM and IRI model in horizontal grid +.>A proportionality coefficient between the vertical electron totals.
Further, the ionospheric correction in step S3 includes the steps of:
s31, at the time t, GNSS radio signals are transmitted from the navigation satelliteDeparture from place is at->A receiver at the location receives;
s32, assume GNSS radio signal slaveTo->The propagation path is not reflected, the GNSS radio signal path is +.>To->A straight line between the two;
s33, calculating GNSS radio signal slave at t momentTo->Ionospheric corrections on the propagation path.
Further, the GNSS radio signal at the time t is calculated in step S33To->Ionospheric corrections on the propagation path include the steps of:
s331, searching for the nearest three-dimensional ionosphere grid at t time, assuming thatAt moment, obtaining a t moment three-dimensional ionosphere by linear interpolationNet:
wherein ,for the three-dimensional ionosphere grid at time t +.>Is->A time three-dimensional ionosphere grid,is->Three-dimensional ionosphere grid at moment;
wherein ,is the total amount of oblique electrons>For the three-dimensional ionosphere grid at time t +.>Is thatSignal penetration distance at the grid;
s333, assume signal frequency asThen the GNSS radio signal at time t is from +.>To->Ionospheric correction on propagation path +.>The method comprises the following steps:
wherein ,for time t GNSS radio signal from +.>To->Ionospheric corrections on the propagation path,is the total amount of oblique electrons>Is the signal frequency.
Further, an electronic device includes a processor and a memory communicatively coupled to the processor and configured to store instructions executable by the processor, the memory storing instructions executable by the processor, the processor configured to perform the GIM model-based ionosphere correction method described above.
Further, a computer readable storage medium stores a computer program which when executed by a processor implements the GIM model-based ionosphere correction method.
Compared with the prior art, the ionosphere correction method, the electronic equipment and the storage medium based on the GIM model have the following advantages:
according to the ionosphere correction method, the electronic equipment and the storage medium based on the GIM model, ionosphere correction of global satellite navigation (global navigation satellites system, GNSS) observation at different altitudes on satellite platforms at different orbit heights is realized; the obtained three-dimensional electron density with high precision and high resolution can be used for researching transmission characteristics of radio signals and monitoring electromagnetic environment abnormality.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic flow chart of an overall method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the ionospheric vertical electron count of the IRI2016 model according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of the total ionospheric vertical electron count for the GIM model according to the embodiment of the invention;
FIG. 4 is a schematic diagram showing the distribution of the total vertical electron quantity of the improved ionosphere model according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of electron density at 340km of an ionosphere of an IRI2016 model according to an embodiment of the present invention;
FIG. 6 is a schematic view of electron density at 340km of ionosphere of the improved model according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, fig. 1 is a method technical roadmap (wherein GNSS observation data is data obtained by processing after a receiver receives a GNSS radio signal, and the receiver processes the GNSS radio signal as a receiver existing processing technology), and an ionosphere correction method based on a GIM model includes the following steps:
constructing a three-dimensional ionosphere rapid grid time sequence:
1. obtaining global ionosphere model GIM post-processing products (namely GNSS observations) through an IGS service center, or obtaining global ionosphere model GIM real-time products (mesh size 71×73, latitude 2.5 °, longitude 5 °);
2. pre-calculating and storing an IRI model three-dimensional grid time sequence for ionosphere real-time correction or post-processing analysis (grid size 71×73×29, latitude 2.5 °, longitude 5 °, altitude is gradient interval based on ionosphere density);
3. the specific calculation method of the ionosphere model under the auxiliary IRI of the GIM model at a certain fixed moment is as follows:
wherein ,for IRI model->In horizontal grid->Vertical electron total at ∈ ->Are vertically spaced apart. />
2) Computing global ionosphere model GIM and IRI model in horizontal gridProportional coefficient between vertical electron totals +.>:
wherein ,for global ionosphere model GIM and IRI model in horizontal grid +.>Proportional coefficient between vertical electron populations, +.>Horizontal grid +.>Vertical electron total amount->For IRI model->In horizontal grid->Vertical electron count at the location.
3) Correcting the IRI model electron density by using the vertical electron total amount proportionality coefficient;
wherein ,is the ionosphere model under the auxiliary IRI of the GIM model at fixed time>Electron density at the grid, +.>For global ionosphere model GIM and IRI model in horizontal grid +.>A proportionality coefficient between the vertical electron totals.
Ionospheric correction under complex paths:
at a given time t, a GNSS radio signal is transmitted from the navigation satelliteDeparture from place is at->A receiver at the location receives. Suppose that GNSS radio signal is from +.>To->No reflection (especially GNSS reflection event) occurs on the propagation path, which can be considered +.>To->Straight line between. The GNSS radio signal at time t can be calculated from +.>To->Ionospheric effects on propagation paths:
1) Finding the nearest three-dimensional ionosphere grid at time t (assumed to beTime of day), a three-dimensional ionosphere grid at time t can be obtained by linear interpolation:
wherein ,for the three-dimensional ionosphere grid at time t +.>Is->A time three-dimensional ionosphere grid,is->Three-dimensional ionosphere grid at the moment. />
wherein ,is the total amount of oblique electrons>For the three-dimensional ionosphere grid at time t +.>Is thatSignal penetration distance at the mesh.
3) Assuming signal frequencyThen the GNSS radio signal at time t is from +.>To->Ionospheric correction on propagation path +.>The method comprises the following steps:
wherein ,for time t GNSS radio signal from +.>To->Ionospheric corrections on the propagation path,is the total amount of oblique electrons>Is the signal frequency.
In a preferred embodiment of the present invention, an electronic device is provided that includes a processor and a memory communicatively coupled to the processor for storing instructions executable by the processor, the memory storing instructions executable by the processor for performing the GIM model-based ionosphere correction method described above.
In a preferred embodiment of the present invention, a computer readable storage medium is provided, storing a computer program which, when executed by a processor, implements the GIM model-based ionosphere correction method.
In the invention, although the GIM model is combined with the projection function mode and is not suitable for ionosphere correction under complex conditions, the single GIM model can provide ionosphere vertical electron total amount horizontal and horizontal gradient information; on the other hand, the global reference ionosphere (intelnational reference ionosphere, IRI) model can provide an ionosphere vertical structure based on experimental information such as E, F and the like such as layer peak heights, peak densities, elevations and the like. And combining the characteristics of the GIM and the IRI models to construct a three-dimensional ionosphere rapid grid time sequence, and then tracking a path of a transmitting end and a receiving end to obtain the total quantity of electrons to carry out subsequent ionosphere influence correction.
Many IGS stations and occultation satellites now provide dual-frequency positioning antennas and occultation antenna observations that can obtain ionosphere data for satellites ranging from negative altitudes (typically from the time of occultation of the satellite near the ground) to positive altitudes. Based on the orbits of the satellites and the navigation ephemeris, we can integrate the electron density along the path of the GNSS radio signal from the transmitting end to the receiving end based on the three-dimensional electron density fast model (the path bending of the ionosphere part can be ignored) to obtain the total electron quantity at the observation time. And analyzing the relation between the precision and the satellite orbit height, the signal transmission altitude angle, the local time, the annual product day and the receiver latitude by counting the deviation between the electronic total amount obtained by the actual measurement data and the model data.
Example 1
To verify the superiority of the improved model algorithm obtained by assisting the IRI2016 model with the GIM model, a four-dimensional ionosphere model of 1 month and 1 day is generated through the algorithm, the spatial resolution selects an IRI basic model (2.5 degrees by 2.5 degrees, and the vertical direction is divided into 29 layers according to electron density), and the time resolution is 1 hour. Figures 2-3 show the ionospheric vertical electron count for the IRI2016 and GIM models at zero at 1/2020, it can be seen that the GIM model has more ionospheric fine structure than the IRI2016 model.
And (5) performing ionosphere three-dimensional model reconstruction by using the GIM model to assist the IRI2016 model to obtain an improved model. Fig. 4 shows the vertical electron population distribution of the modified ionosphere model. Comparing fig. 4 with fig. 3, it can be seen that the improved model, in the case of obtaining the vertical structure of the IRI2016 model, the vertical electron population is consistent with the GIM model distribution.
By comparing the electron density at 340km (near ionospheric peak height), it can be found that the vertical electron population two-dimensional structure of the GIM model is transferred near the ionospheric peak height by the algorithm herein, improving the electron population at this height. As shown in fig. 5-6, fig. 5-6 show the electron density at ionosphere 340km for IRI2016 model and improved model at time 1 month 1 day zero 2020.
And selecting RINEX data of the IGS station on the same day, and obtaining the actual measurement ionosphere oblique electron total quantity of each station of the IGS through ionoab software. The observed model result corresponding to the IRI2016 model and the improved model can be obtained through integration along the path, and the poor total amount of the oblique electrons is obtained through statistics of actual measurement data and model integration, so that a conclusion is obtained. From the conclusion, the improved model is worse in the total amount of oblique electrons and more approaching 0 TECu than the IRI2016 model, and the error statistical result is shown as sharp Gaussian distribution. Through statistics, the root mean square error of the IRI2016 model is 5TECu, and the improved model is reduced to be within 3 TECu.
The invention has the advantages that: ionospheric corrections for different elevation angle global satellite navigation (global navigation satellites system, GNSS) observations on satellite platforms of different orbital heights; the obtained three-dimensional electron density with high precision and high resolution can be used for researching transmission characteristics of radio signals and monitoring electromagnetic environment abnormality.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. The ionosphere correction method based on the GIM model is characterized by comprising the following steps of: the method comprises the following steps:
s1, transmitting GNSS observation data to a global ionosphere model GIM;
s2, constructing a three-dimensional ionosphere rapid model through a global ionosphere model GIM and an ionosphere experience model;
s3, performing ionosphere correction on the three-dimensional ionosphere rapid model;
the ionospheric empirical model in step S2 is an IRI model;
the construction of the three-dimensional ionosphere rapid model in step S2 comprises the steps of:
s21, obtaining a global ionosphere model GIM real-time product;
s22, calculating and storing a three-dimensional grid time sequence of the IRI model;
s23, calculating a three-dimensional ionosphere rapid model by combining a three-dimensional grid time sequence of a global ionosphere model GIM real-time product and an IRI model;
the calculation in step S23 results in a three-dimensional ionosphere fast model comprising the steps of:
wherein ,for IRI model Ne IRI The total number of vertical electrons, Δh, at horizontal grid i, j k Is a grid vertical interval;
s232, calculating a ratio coefficient R between the total vertical electron quantity of the global ionosphere model GIM and the IRI model at the horizontal grid i, j i,j :
wherein ,Ri,j For the proportionality coefficient between the global ionosphere model GIM and the IRI model in the vertical electron population at the horizontal grid i, j,vertical electron population at horizontal grid i, j for global ionosphere model GIM, +.>For IRI model Ne IRI The total number of vertical electrons at horizontal grid i, j;
s233, correcting the IRI model electron density by using the vertical electron total amount proportionality coefficient;
Ne i,j,k cor =R i,j ·Ne i,j,k IRI ;
wherein ,Nei,j,k cor Is the electron density of the ionosphere model at the i, j, k grids under the assistance of the global ionosphere model GIM at fixed time and R i,j Is the proportionality coefficient between the global ionosphere model GIM and the IRI model in the vertical electron population at the horizontal grid i, j.
2. The ionospheric correction method based on GIM model as claimed in claim 1, wherein: the ionosphere correction in step S3 includes the steps of:
s31, at time t, GNSS radio signal is transmitted from navigation satellite X T Is started at X R A receiver at the location receives;
s32, assume GNSS radio signal slave X T To X R The propagation path is not reflected, the GNSS radio signal path is X T To X R A straight line between the two;
s33, calculating GNSS radio signal slave X at t moment T To X R Ionospheric corrections on the propagation path.
3. The GIM model-based GIM of claim 2The ionosphere correction method is characterized in that: the GNSS radio signal slave X at time t is calculated in step S33 T To X R Ionospheric corrections on the propagation path include the steps of:
s331, searching for the nearest three-dimensional ionosphere grid at t time, assuming t 0 ,t 1 At moment, obtaining a three-dimensional ionosphere grid at t moment through linear interpolation:
wherein ,Nei,j,k t For a three-dimensional ionosphere grid at time t,at t 0 Time three-dimensional ionosphere grid->At t 1 Three-dimensional ionosphere grid at moment;
s332, integrating to obtain X T To X R Total amount of oblique electrons sTec on propagation path t ;
Wherein sTec t Ne is the total amount of oblique electrons i,j,k t For a three-dimensional ionosphere grid at time t, deltas i,j,k The signal penetration distance at the grid of i, j and k is;
s333, assuming that the signal frequency is f, the GNSS radio signal at time t is derived from X T To X R Ionospheric correction on propagation pathThe method comprises the following steps:
4. An electronic device comprising a processor and a memory communicatively coupled to the processor for storing processor-executable instructions, characterized in that: the memory stores instructions executable by the processor for performing the GIM model-based ionosphere correction method of any one of claims 1-3.
5. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements the GIM model-based ionosphere correction method of any of claims 1-3.
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