CN116184442A - Track, clock correction evaluation method and device, equipment and storage medium - Google Patents

Track, clock correction evaluation method and device, equipment and storage medium Download PDF

Info

Publication number
CN116184442A
CN116184442A CN202310094951.9A CN202310094951A CN116184442A CN 116184442 A CN116184442 A CN 116184442A CN 202310094951 A CN202310094951 A CN 202310094951A CN 116184442 A CN116184442 A CN 116184442A
Authority
CN
China
Prior art keywords
satellite
information
clock
correction
evaluated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310094951.9A
Other languages
Chinese (zh)
Inventor
汪洋
梁尔涛
袁俊军
陈晏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fire Eye Location Digital Intelligence Technology Service Co ltd
Original Assignee
Fire Eye Location Digital Intelligence Technology Service Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fire Eye Location Digital Intelligence Technology Service Co ltd filed Critical Fire Eye Location Digital Intelligence Technology Service Co ltd
Priority to CN202310094951.9A priority Critical patent/CN116184442A/en
Publication of CN116184442A publication Critical patent/CN116184442A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application provides a track and clock correction evaluation method and device, equipment and a storage medium, and belongs to the technical field of satellite data. The method comprises the following steps: acquiring the orbit correction, the clock correction and the broadcast ephemeris information of at least one target satellite; decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter; carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock difference calculation according to the clock difference correction parameters and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated; carrying out evaluation calculation according to preset satellite reference coordinate information, satellite coordinate information to be evaluated, preset clock error reference information and satellite clock error information to be evaluated to obtain satellite evaluation information; and visualizing the satellite evaluation information to obtain a satellite evaluation view. The method and the device can improve the accuracy of track correction and clock correction evaluation.

Description

Track, clock correction evaluation method and device, equipment and storage medium
Technical Field
The present disclosure relates to the field of satellite data technologies, and in particular, to a method, an apparatus, a device, and a storage medium for evaluating an orbit and a clock correction.
Background
Currently, an international GNSS data analysis center represented by the lgs can provide service products of track corrections and clock correction of each tracking station, but the service products have difficulty in calculating the accuracy by means of laser ranging and the like. When the track correction and the clock correction are calculated by different GNSS data analysis centers, the track correction, the clock correction and the preset reference data provided by the GNSS data analysis centers cannot be directly subjected to primary difference to evaluate the track correction data and the clock correction due to the fact that the reference data are different, the number of measuring stations is different and the distribution is different. Therefore, how to improve the accuracy of the track number and the clock difference number evaluation becomes a technical problem to be solved.
Disclosure of Invention
The embodiment of the application mainly aims at providing a track and clock correction evaluation method, a device, equipment and a storage medium, and aims at improving the accuracy and the comprehensiveness of track and clock correction evaluation.
To achieve the above object, a first aspect of an embodiment of the present application proposes a track, clock correction evaluation method, including:
Acquiring data to be analyzed of a target satellite navigation system; wherein the data to be analyzed comprises: orbit correction, clock correction, and broadcast ephemeris information for at least one target satellite;
decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter;
carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock correction calculation according to the clock correction parameters and the broadcast ephemeris information to obtain satellite clock correction information to be evaluated;
evaluating and calculating the target satellites according to preset satellite reference coordinate information, the satellite coordinate information to be evaluated, preset clock error reference information and the satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite;
and carrying out visualization processing on the satellite evaluation information of at least two target satellites to obtain satellite evaluation views.
In some embodiments, the track correction parameters include: an original satellite position correction vector and a satellite velocity correction vector; the broadcast ephemeris information includes: satellite raw coordinate information and satellite raw Zhong Chazhi; the satellite coordinate calculation is performed according to the orbit correction parameter and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and the clock difference calculation is performed according to the clock difference correction parameter and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated, including:
Performing position correction calculation according to the original satellite position correction vector and the satellite speed correction vector to obtain candidate satellite position correction vectors;
performing coordinate transformation on the candidate satellite position correction vector to obtain satellite movement coordinate information;
performing difference calculation according to the original satellite coordinate information and the satellite mobile coordinate information to obtain satellite coordinate information to be evaluated;
calculating a clock correction value according to the clock correction parameter to obtain a candidate clock correction value;
and performing clock difference calculation on the candidate clock difference correction value, the satellite original clock difference value and a preset light speed value to obtain satellite clock difference information to be evaluated.
In some embodiments, the performing an evaluation calculation on the target satellite according to the preset satellite reference coordinate information, the satellite coordinate information to be evaluated, the preset clock difference reference information and the satellite clock difference information to be evaluated to obtain satellite evaluation information of each target satellite includes:
performing precision calculation on the satellite coordinate information to be evaluated according to the satellite reference coordinate information to obtain satellite orbit precision information, and performing precision calculation on the satellite clock difference information to be evaluated according to the clock difference reference information to obtain satellite clock difference precision information;
Comparing the satellite orbit precision information, the satellite clock error precision information and a preset precision threshold value to obtain rough error evaluation information of the target satellite;
and calculating the number of the satellite coordinate information to be evaluated to obtain an orbit recovery number, and performing inverse proportion calculation according to the orbit recovery number and the preset satellite number to obtain the orbit information integrity rate.
In some embodiments, the calculating the accuracy of the satellite coordinate information to be evaluated according to the satellite reference coordinate information to obtain satellite orbit accuracy information, and the calculating the accuracy of the satellite clock error information to be evaluated according to the clock error reference information to obtain satellite clock error accuracy information includes:
performing difference calculation on the satellite reference coordinate information and the satellite coordinate information to be evaluated in all directions to obtain satellite orbit precision information;
and carrying out difference value calculation on the clock difference reference information and the satellite clock difference information to be evaluated to obtain the satellite clock difference precision information.
In some embodiments, the calculating the difference value between the clock difference reference information and the satellite clock difference information to be evaluated to obtain the satellite clock difference precision information includes:
Performing difference calculation on the clock difference reference information and the satellite clock difference information to be evaluated to obtain a clock difference observation value;
screening clock difference selection information from the satellite clock difference information to be evaluated;
performing difference calculation on the clock difference selection information and the satellite clock difference information to be evaluated to obtain a second difference value;
generating the satellite clock difference precision information based on the clock difference observation value and the second difference value.
In some embodiments, the screening the clock difference selection information from the satellite clock difference information to be evaluated includes:
performing precision evaluation on the clock error observation value based on a regular constraint least square global optimal estimation method to obtain to-be-estimated parameters of the clock error information of each satellite to be evaluated;
screening the clock difference selected information from the satellite clock difference information to be evaluated according to the parameter to be evaluated;
the least square global optimal estimation method comprises the steps of enabling a least square function xx= (H.t (). H). I (). H.t (). Yy; xx is a parameter to be estimated, # t () is a transpose, # i () is an inverse, and H is a parameter matrix to be estimated, a clock difference observation constructed from the clock difference observation.
In some embodiments, the visualizing the satellite estimation information of at least two target satellites to obtain a satellite estimation view includes:
Performing visualization processing on the satellite orbit precision information and the satellite clock error precision information of at least two target satellites to obtain satellite precision views;
taking time as an abscissa, and taking the satellite orbit precision information and the satellite clock error precision information as an ordinate to construct a satellite residual error time sequence view;
and carrying out visual processing on the rough and poor evaluation information and the orbit information integrity rate to obtain satellite rough and poor and integrity rate views.
To achieve the above object, a second aspect of the embodiments of the present application proposes a track, clock correction evaluation device, the device comprising:
the data acquisition module is used for acquiring data to be analyzed of at least one target satellite navigation system; wherein the data to be analyzed comprises: track correction, clock correction, and broadcast ephemeris information;
the decoding processing module is used for decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter;
the data calculation module is used for carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock difference calculation according to the clock difference correction parameters and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated;
The evaluation calculation module is used for carrying out evaluation calculation on the target satellite navigation systems according to preset satellite reference coordinate information, the satellite coordinate information to be evaluated, preset clock error reference information and the satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite navigation system;
and the visualization module is used for carrying out visualization processing on the satellite evaluation information of at least two target satellite navigation systems to obtain an orbit clock error evaluation view.
To achieve the above object, a third aspect of the embodiments of the present application proposes an electronic device, which includes a memory and a processor, the memory storing a computer program, the processor implementing the method according to the first aspect when executing the computer program.
To achieve the above object, a fourth aspect of the embodiments of the present application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of the first aspect.
The orbit and clock correction evaluation method, the orbit and clock correction evaluation device, the orbit and clock correction evaluation equipment and the storage medium are used for obtaining satellite evaluation information of each target satellite by evaluating and calculating the recovered satellite coordinate information to be evaluated and the satellite clock correction information to be evaluated according to the preset satellite reference coordinate information and the preset clock correction reference information, so that the evaluation of the target satellite is more accurate. And finally, the satellite evaluation information of the whole target satellite navigation system is visualized to obtain a satellite evaluation view, so that a user can intuitively check the evaluation results of the orbit correction and the clock correction of the target satellite navigation system.
Drawings
FIG. 1 is a flow chart of a track and clock correction evaluation method provided by an embodiment of the present application;
fig. 2 is a flowchart of step S103 in fig. 1;
fig. 3 is a flowchart of step S104 in fig. 1;
fig. 4 is a flowchart of step S301 in fig. 3;
fig. 5 is a flowchart of step S402 in fig. 4;
fig. 6 is a flowchart of step S502 in fig. 5;
FIG. 7 is a comparison of satellite clock bias accuracy information calculated by three methods;
fig. 8 is a flowchart of step S105 in fig. 1;
FIG. 9 is a view of satellite accuracy in the orbit and clock correction estimation method provided herein;
FIG. 10 is a time series view of satellite residuals in the orbit and clock correction estimation method provided herein;
FIG. 11 is a schematic diagram of a track and clock correction evaluation device according to an embodiment of the present disclosure;
fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
First, several nouns referred to in this application are parsed:
artificial intelligence (Artificial Intelligence, AI): is a new technical science for researching and developing theories, methods, technologies and application systems for simulating, extending and expanding the intelligence of people; satellite data is a branch of computer science that attempts to understand the nature of intelligence and to produce a new intelligent machine that can react in a manner similar to human intelligence, research in this field including robotics, language recognition, image recognition, natural language processing, and expert systems. Satellite data can simulate the information process of consciousness and thinking of people. Satellite data is also a theory, method, technique, and application system that uses digital computers or digital computer-controlled machines to simulate, extend, and extend human intelligence, sense the environment, acquire knowledge, and use knowledge to obtain optimal results.
Global navigation satellite system (Global Navigation Satellite System, GNSS): global navigation satellite system positioning uses the observables of pseudoranges, ephemeris, satellite transmission time, etc. of a set of satellites, and the user clock bias must be known. Global navigation satellite systems are space-based radio navigation positioning systems that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the surface of the earth or near earth space.
Broadcast ephemeris: the GPS satellite ephemeris is divided into a forecast ephemeris and a post-processing ephemeris. The forecast ephemeris is also called broadcast ephemeris. The broadcast ephemeris is determined and provided by the ground control part of the global positioning system, and is the message information for forecasting the satellite orbit number in a certain time on the radio signal sent by the positioning satellite.
Satellite orbit: the horizontal speed of satellite flight is called the first cosmic speed, the surrounding speed. The satellite can fly around the earth without any further power after only obtaining this horizontal velocity. The satellite's flight trajectory is called the satellite orbit.
Rough differences: coarse refers to a series of observations made under the same observation conditions, one of the types of measurement errors, and generally refers to an observation error whose absolute value is greater than 3 times that of an error, including an error caused by carelessness. Measurement deviation whose absolute value exceeds the limit difference cannot be used for measurement data containing the coarse difference.
The GNSS data analysis center is used as a representative service product capable of providing real-time corrections of GNSS observation data, orbit, clock error and the like of each tracking station, and provides reference precision of the tracking station. However, the service products provided by the GNSS data analysis center are independently researched and developed, the accuracy is difficult to be calibrated through means such as laser ranging, and the service products are mainly evaluated by taking the final products as the standard. However, due to the different reference standards, station numbers and distributions adopted by different GNSS analysis centers in the process of calculating the clock correction, the final product and the service product cannot be directly subjected to the correction to evaluate the track correction and the clock correction, and the evaluation accuracy is affected.
Based on this, the embodiment of the application provides an orbit and clock correction evaluation method, an apparatus, a device and a storage medium, wherein the orbit correction is decoded into an orbit correction parameter after orbit correction, clock correction and broadcast ephemeris information of a target satellite are acquired, and the coordinate information of the satellite to be evaluated is calculated according to the orbit correction parameter and the broadcast ephemeris information, so that orbit recovery of the target satellite is realized. And meanwhile, decoding the clock correction into a clock correction parameter, calculating the clock correction parameter and the broadcast ephemeris information to obtain the clock correction information of the satellite to be evaluated, and realizing clock correction recovery of the target satellite. Therefore, the satellite evaluation information of each target satellite is obtained by evaluating and calculating the recovered satellite coordinate information to be evaluated and the satellite clock error information to be evaluated according to the preset satellite reference coordinate information and the preset clock error reference information, so that the evaluation of the target satellite is more accurate. And finally, carrying out visual processing on satellite evaluation information of the whole target satellite navigation system to obtain a satellite evaluation view, so that a user can intuitively check the evaluation results of the orbit correction and the clock correction of the target satellite navigation system.
The track and clock correction evaluation method, device, equipment and storage medium provided by the embodiment of the application are specifically described through the following embodiments, and the track and clock correction evaluation method in the embodiment of the application is described first.
The embodiment of the application can acquire and process the related data based on the artificial intelligence technology. Among these, artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
Artificial intelligence infrastructure generally includes technologies such as sensors, dedicated satellite data chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, electromechanical integration, and the like. Satellite data software technology mainly comprises computer vision technology, robot technology, biological recognition technology, voice processing technology, natural language processing technology, machine learning/deep learning and other directions.
The embodiment of the application provides an orbit and clock correction evaluation method, and relates to the technical field of satellite data. The track and clock correction evaluation method provided by the embodiment of the application can be applied to a terminal, a server side and software running in the terminal or the server side. In some embodiments, the terminal may be a smart phone, tablet, notebook, desktop, etc.; the server side can be configured as an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and satellite data platforms and the like; the software may be an application implementing a track, a method of evaluating a correction of clock, or the like, but is not limited to the above form.
The subject application is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In the embodiments of the present application, when related processing is required according to user information, user behavior data, user history data, user location information, and other data related to user identity or characteristics, permission or consent of the user is obtained first, and the collection, use, processing, and the like of the data comply with related laws and regulations and standards of related countries and regions. In addition, when the embodiment of the application needs to acquire the sensitive personal information of the user, the independent permission or independent consent of the user is acquired through a popup window or a jump to a confirmation page or the like, and after the independent permission or independent consent of the user is explicitly acquired, necessary user related data for enabling the embodiment of the application to normally operate is acquired.
Fig. 1 is an optional flowchart of a track and clock correction evaluation method provided in an embodiment of the present application, where the method in fig. 1 may include, but is not limited to, steps S101 to S105.
Step S101, obtaining data to be analyzed of a target satellite navigation system; wherein, the data to be analyzed comprises: orbit correction, clock correction, and broadcast ephemeris information for at least one target satellite;
step S102, performing decoding processing on the track correction to obtain a track correction parameter, and performing decoding processing on the clock correction to obtain a clock correction parameter;
step S103, satellite coordinate calculation is carried out according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and clock difference calculation is carried out according to the clock difference correction parameters and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated;
step S104, evaluating and calculating the target satellites according to preset satellite reference coordinate information, satellite coordinate information to be evaluated, preset clock error reference information and satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite;
step S105, the satellite evaluation information of at least one target satellite is subjected to visualization processing, and a satellite evaluation view is obtained.
In the steps S101 to S105 illustrated in the embodiments of the present application, the orbit correction, the clock correction and the broadcast ephemeris information of at least one target satellite in the target satellite navigation system are obtained, the orbit correction is decoded to obtain an orbit correction parameter, the clock correction is decoded to obtain a clock correction parameter, the satellite coordinate information to be evaluated is calculated according to the orbit correction parameter and the broadcast ephemeris information, and the satellite clock correction information to be evaluated is calculated according to the clock correction parameter and the broadcast ephemeris information. The method comprises the steps of carrying out evaluation calculation on target satellites according to preset satellite reference coordinate information, clock error reference information, satellite coordinate information to be evaluated and satellite clock error information to be evaluated, recovering the coordinate information and the clock error information of the target satellites, and then carrying out evaluation to obtain satellite evaluation information of each target satellite, instead of carrying out direct difference calculation on the coordinate reference information, the clock error reference information, the orbit correction and the clock error correction, so that the problem of evaluation distortion of individual target satellites is avoided, and the evaluation accuracy of the target satellites is improved. And finally, visualizing satellite evaluation information of the target satellite of the whole target satellite navigation system to obtain a satellite evaluation view, so that a user can intuitively check an evaluation result of the target satellite.
In step S101 of some embodiments, the orbit and clock correction estimation method is performed by a correction estimation platform, and a communication channel is established between the correction estimation platform and the target satellite navigation system, where the communication channel includes any one of the following: the Ntrip connection channel, the TCP connection channel or the Serial connection channel, and the target satellite navigation system is a GNSS data analysis center. The correction evaluation platform acquires the track correction, the clock correction and the broadcast ephemeris information through a communication channel, wherein the track correction, the clock correction and the broadcast ephemeris information are transmitted in binary data stream, and the data format of the track correction and the clock correction is RTCM3 format, I GS format or custom format.
Specifically, the GNSS data analysis center transmits the orbit corrections, the clock correction, and the broadcast ephemeris information in binary data streams to the correction evaluation platform to determine the orbit corrections, the clock correction, and the broadcast ephemeris information for each target satellite.
In step S102 of some embodiments, the orbit correction parameters are obtained by decoding the orbit correction based on the format of the orbit correction, and each of the orbit corrections is decoded to obtain six orbit correction parameters, and the six orbit correction parameters include position correction parameters and velocity correction parameters of the satellite in radial direction, tangential direction, and normal direction. And decoding the clock correction to obtain three clock correction parameters. The broadcast ephemeris information comprises information such as data age IODE, and the like, and describes information of a satellite motion orbit, so that the broadcast ephemeris information is orbit parameters and traversal at a certain moment, and the satellite position and satellite speed of a target satellite at any moment can be calculated according to the broadcast ephemeris information.
Specifically, the six orbit correction parameters include the satellite radial, tangential, and normal position correction parameters and the velocity correction parameters, and the radial, tangential, and normal position correction parameters are the original satellite position correction vectors, such as R s ＝[R r ，R t ，R n ]. The radial, tangential and normal velocity correction parameters being satellite velocity correction vectors, e.g. V s ＝[V r ，V t ，V n ]Three clock correction parameters are [ C 0 ，C 1 ，C 2 ]。
Referring to fig. 2, in some embodiments, the broadcast ephemeris information comprises: satellite raw coordinate information and satellite raw Zhong Chazhi; step S103 may include, but is not limited to, steps S201 to S205:
step S201, performing position correction calculation according to the original satellite position correction vector and the satellite speed correction vector to obtain candidate satellite position correction vectors;
step S202, coordinate conversion is carried out on candidate satellite position correction vectors to obtain satellite movement coordinate information;
step S203, performing difference calculation according to the original coordinate information of the satellite and the mobile coordinate information of the satellite to obtain the coordinate information of the satellite to be evaluated;
step S204, calculating a clock error value according to the clock error correction parameter to obtain a candidate clock error correction value;
step S205, calculating clock differences among the candidate clock difference correction value, the satellite original clock difference value and the preset light speed value to obtain satellite clock difference information to be evaluated.
In step S201 of some embodiments, since the original satellite position correction vector is the satellite position correction vector at the reference time t0, if the satellite position correction vector corresponding to the time t needs to be calculated, a candidate satellite position correction vector is obtained. And (3) performing position correction calculation according to the original satellite position correction vector and the satellite speed correction vector, namely inputting the original satellite position correction vector and the satellite speed correction vector into a formula (1) to obtain a satellite position correction vector corresponding to the t moment as a candidate satellite position correction vector.
Figure BDA0004071426470000081
In step S202 of some embodiments, after the candidate satellite position correction vector is calculated, the candidate satellite position correction vector is subjected to coordinate system conversion, that is, satellite movement coordinate information is obtained by converting the orbit coordinate system into the geodetic coordinate system. The conversion of the candidate satellite position correction vector into the geodetic coordinate system is shown in formula (2):
Figure BDA0004071426470000091
wherein,,
Figure BDA0004071426470000092
in step S203 of some embodiments, after the satellite movement coordinate information of the geodetic coordinate system is calculated, the difference value between the satellite original coordinate information and the satellite movement coordinate information is calculated, so as to obtain the satellite coordinate information to be evaluated. The calculation of the difference between the original coordinate information of the satellite and the moving coordinate information of the satellite is shown in a formula (3):
Figure BDA0004071426470000093
Wherein, the original coordinate information of the satellite is [ X ] 0 ，Y 0 ，Z 0 ]The satellite coordinate information to be evaluated is [ X, Y, Z ]]. Therefore, the satellite orbit information is recovered by calculating the satellite coordinate information to be evaluated, and the satellite antenna phase center APC or the satellite centroid COM is considered; if the SSR correction value is relative to the satellite APC, the satellite antenna phase deviation correction needs to be added to enable the satellite to predict the coordinates.
In step S204 of some embodiments, after the satellite orbit information recovery is completed, clock error information recovery is required to recover the clock error information according to the clock error correction parameters. The clock correction parameter is t0, namely the quadratic equation coefficient [ C ] 0 ，C 1 ，C 2 ]If the clock correction value of the observation time t is calculated, the satellite clock correction information to be evaluated is calculated by combining the original satellite clock correction value in the broadcast ephemeris information. Wherein, firstly, the candidate clock correction value is calculated according to the clock correction parameter input formula (4), and the formula (4) is:
Δk＝C 0 +C 1 (t-t0)+C 2 (t-t0) 2 (4)
wherein Δk is a candidate clock correction value.
In step S205 of some embodiments, after calculating the candidate clock difference correction value, the satellite original clock difference value and the preset light speed value are input to formula (5) for calculation, so as to obtain corrected clock difference information as the satellite clock difference information to be evaluated, that is, to realize clock difference information recovery.
Δt s ＝Δt b -Δk/Vclight (5)
Wherein Vclight is a preset light speed value, deltat s For the satellite clock difference information to be evaluated, deltat b Is the satellite original clock difference.
It should be noted that, after the satellite orbit information and the clock error information are recovered, the satellite coordinate information to be evaluated and the satellite clock error information to be evaluated are obtained, the satellite coordinate information to be evaluated is stored as a precise ephemeris data format (. SP 3), and the satellite clock error information to be evaluated is stored as a precise clock error data format (. CLK) text file. When generating the.sp 3 and.clk files, a first time interval of epoch is selected, such as 5min or 15min. And saving a second time interval for file segmentation, such as automatically segmenting the file in units of 1 day, to avoid excessive volume of a single file.
In steps S201 to S205 illustrated in the embodiment of the present application, satellite movement coordinate information is obtained by converting the candidate satellite position correction vector from the orbital coordinate system to the geodetic coordinate system by calculating the candidate satellite position correction vector from the original satellite position correction vector and the satellite velocity correction vector. And carrying out difference value calculation on the original satellite coordinate information and the satellite mobile coordinate information to obtain the satellite coordinate information to be evaluated after orbit recovery. And then calculating a candidate clock difference correction value at the time t by using the clock difference correction parameter, and inputting the candidate clock difference correction value, the satellite original clock difference value and the light speed value into a formula (5) to obtain recovered satellite clock difference information to be evaluated. Therefore, the satellite coordinate information to be evaluated is recovered according to the orbit correction parameters, and then the satellite clock correction information to be evaluated is recovered according to the clock correction parameters, so that the orbit correction and the clock correction of the target satellite are evaluated after the satellite orbit information and the clock correction information are recovered, and the accuracy of the orbit correction and the clock correction evaluation can be improved.
Referring to fig. 3, in some embodiments, step S104 may include, but is not limited to, steps S301 to S303:
step S301, performing precision calculation on satellite coordinate information to be evaluated according to satellite reference coordinate information to obtain satellite orbit precision information, and performing precision calculation on satellite clock error information to be evaluated according to clock error reference information to obtain satellite clock error precision information;
step S302, comparing satellite orbit precision information, satellite clock error precision information and a preset precision threshold value to obtain rough error evaluation information of a target satellite navigation system;
step S303, calculating the number of the satellite coordinate information to be evaluated to obtain the orbit restoration number, and performing inverse proportion calculation according to the orbit restoration number and the preset satellite number to obtain the orbit information integrity rate.
In step S301 of some embodiments, after calculating the satellite coordinate information to be evaluated and the satellite clock difference information to be evaluated, a final orbit and clock difference product file is obtained, so as to obtain satellite reference coordinate information as a reference value of the satellite orbit, and the clock difference reference information is used as a reference value of the clock difference. Recovering orbit information based on the orbit correction to obtain satellite coordinate information to be evaluated, carrying out precision calculation on the satellite coordinate information to be evaluated and satellite reference coordinate information to obtain satellite orbit precision information, and carrying out precision calculation on the clock error reference information and the satellite clock error information to obtain satellite clock error precision information so as to realize precision evaluation of the orbit correction and precision evaluation of the clock error correction.
In step S302 of some embodiments, after the accuracy analysis of the orbit correction and the clock correction is completed, the satellite orbit accuracy information, the satellite clock correction accuracy information and a preset accuracy threshold value are compared to determine whether the calculation result of the target satellite in a certain epoch exceeds the set accuracy threshold value in the process of estimating the orbit correction and the clock correction accuracy, so as to obtain rough error estimation information of the target satellite.
If the satellite orbit accuracy information and the satellite clock error accuracy information exceed the preset accuracy threshold, determining that the rough error evaluation information of the target satellite is rough error. Otherwise, if the satellite orbit precision information and the satellite clock error precision information do not exceed the preset precision threshold, determining that the rough error evaluation information of the target satellite is not rough error. And further judging whether the orbit correction and the clock correction have distortion or not according to the satellite gross error evaluation information.
In step S303 of some embodiments, after the rough difference analysis is completed, the number of the satellite coordinate information to be evaluated is calculated, that is, the number of orbit recovery numbers obtained by calculating the satellite coordinate information to be evaluated, and then the orbit recovery numbers and the preset satellite numbers are inversely proportional calculated to obtain the orbit information integrity rate. The number of the preset satellites is the number of the target satellites of the target satellite navigation system, the number of the preset satellites is used as a theoretical value, the number of the satellite coordinate information to be evaluated is used as the orbit information recovery number, namely the actual measurement value, and the orbit recovery number is divided by the number of the preset satellites to obtain the orbit information integrity rate. The condition of track information recovery can be known through the track information integrity rate.
In steps S301 to S303 illustrated in the embodiment of the present application, first, satellite orbit precision information of a target satellite is calculated according to satellite reference coordinate information and satellite coordinate information to be evaluated, and then, satellite clock error precision information of the target satellite is calculated according to clock error reference information and satellite clock error information to be evaluated. The accuracy of the orbit correction and the clock correction can be known through the satellite orbit accuracy information and the satellite clock correction accuracy information. And comparing the satellite orbit precision information and the satellite clock error precision information with a preset precision threshold value to determine rough error evaluation information of the target satellite, and if the satellite orbit precision information and the satellite clock error precision information are larger than the preset precision threshold value, determining that the rough error evaluation information of the target satellite is rough error, wherein the orbit correction and the clock error correction used by the target satellite can cause evaluation distortion of other target satellites. And finally, determining the orbit recovery number by calculating the satellite prediction coordinate number, and dividing the orbit recovery number and the satellite number to obtain the orbit information integrity rate so as to know the data integrity rate through the orbit information integrity rate.
Referring to fig. 4, in some embodiments, step S301 may include, but is not limited to, steps S401 to S402:
Step S401, carrying out difference calculation on satellite reference coordinate information and satellite coordinate information to be evaluated in all directions to obtain satellite orbit precision information;
step S402, performing clock error precision estimation according to the clock error reference information and the satellite clock error information to be evaluated to obtain satellite clock error precision information.
In step S401 of some embodiments, satellite orbit accuracy information is obtained by obtaining satellite coordinate information to be evaluated and satellite reference coordinate information of the same epoch, the same target satellite, and the same direction, and performing difference calculation. The method comprises the steps of obtaining satellite orbit precision information, namely a satellite orbit residual error time sequence, by taking the satellite orbit difference value of each time represented by the sequence, by making a difference between the satellite coordinate information to be evaluated of each epoch and satellite reference coordinate information, wherein the satellite coordinate information to be evaluated of a plurality of epochs exists in the same target satellite. The satellite orbit residuals in the satellite orbit residual time sequence are transformed into an orbit coordinate system by a geocentric earth system, namely in radial, tangential and normal modes. For example, the satellite orbit residual time sequence is [ (Hr 1, ht1, hn 1), (Hr 2, ht2, hn 2), … … (Hrn, htn, hnn) ].
In step S402 of some embodiments, the satellite clock error accuracy information is obtained by performing difference calculation on the satellite clock error information to be evaluated of the same epoch, the same target satellite, and the clock error reference information. The satellite clock difference precision information is a clock difference residual time sequence, and the clock difference residual time sequence comprises a plurality of clock difference residuals. For example, the clock difference residual time sequence is [ delta ] 1 、Δ 2 、……Δ n ]。
In step S401 to step S402 illustrated in the embodiment of the present application, a satellite orbit residual time sequence is obtained by performing difference calculation on satellite coordinate information to be evaluated and satellite reference coordinate information of the same target satellite, different epochs, and a clock error residual time sequence is obtained by performing difference calculation on satellite clock error information to be evaluated and clock error reference information of the same target satellite, different epochs. The satellite orbit residual time sequence and the clock error residual time sequence can be used for determining the accuracy of the orbit information and the clock error information which are calculated and corrected by the target satellite in different epochs based on the orbit correction and the clock error correction, so that an operator can conveniently debug the orbit correction and the clock error correction according to the satellite orbit residual time sequence and the clock error residual time sequence.
Referring to fig. 5, in some embodiments, step S402 may include, but is not limited to, steps S501 to S502:
step S501, performing difference calculation on clock error reference information and satellite clock error information to be evaluated to obtain a clock error observation sequence; wherein the clock difference observation sequence includes: fixing the deviation sequence;
and step S502, carrying out precision evaluation on satellite clock error information to be evaluated according to the fixed deviation value and the clock error observation sequence to obtain satellite clock error precision information.
In step S501 of some embodiments, a clock error observation value is obtained by calculating a difference value between clock error reference information and satellite clock error information to be evaluated, a plurality of clock error observation values are combined to form a clock error observation sequence, and the clock error observation value of the clock error observation sequence represents a "fixed deviation" of a clock error correction of a target satellite. Since the clock error observation value can only represent the "fixed deviation" of the clock error correction of the target satellite, and cannot reflect the true accuracy of the clock error correction, it is necessary to further calculate the difference value of the target satellite to eliminate the influence of the "fixed deviation" on the evaluation of the clock error correction accuracy. Because the clock error reference information of different GNSS data analysis centers is different, the clock error observation value cannot accurately evaluate the accuracy of the clock error correction, and in order to eliminate the influence of 'fixed deviation' on the accuracy evaluation of the clock error correction, the clock error reference information cannot be continuously used, so that the satellite clock error information to be evaluated needs to be further evaluated according to the fixed deviation value and the clock error observation sequence.
In step S502 of some embodiments, the clock error observation sequence includes a fixed deviation sequence, so satellite clock error accuracy information is obtained by performing clock error accuracy estimation on satellite clock error information to be evaluated according to the fixed deviation sequence and the clock error observation sequence, so as to calculate clock error accuracy of each satellite clock error information to be evaluated.
In step S501 to step S502 illustrated in the embodiment of the present application, difference values of the clock difference information and the clock difference reference information of the satellite to be evaluated of the same epoch, the same target satellite are calculated to obtain a clock difference observation value, and then the clock difference observation values are summarized into a clock difference observation sequence. Since the clock error reference information of different GNSS analysis centers is different, there is a "fixed deviation" in the clock error observation sequence, so that the true accuracy of the clock error correction of the target satellite cannot be reflected only by the clock error observation sequence. Therefore, the clock error precision estimation is further carried out on the satellite clock error information to be evaluated according to the clock error observation sequence and the fixed deviation sequence, so that the precision analysis of the clock error correction of the target satellite is more accurate.
Referring to fig. 6, in some embodiments, step S502 includes, but is not limited to, steps S601 and S602:
step S601, fitting calculation is carried out on a fixed deviation sequence based on a regular constraint least square global optimal estimation method to obtain a deviation parameter matrix; the least square global optimal estimation method comprises the following steps of enabling a least square function xx= (H.t (). H). I (). H.t (). Yy; xx is a deviation parameter matrix, t () is a transpose, i () is an inverse, and H is a deviation value matrix constructed by a fixed deviation sequence;
Step S602, performing difference calculation on the clock error observed value in the clock error observed sequence and the fixed deviation value of the fixed deviation sequence according to the deviation parameter matrix to obtain satellite clock error precision information.
In step S601 of some embodiments, the clock difference selection information is selected as a reference value for the secondary difference due to the need. Because of different reasons of the reference standard adopted in the calculation process of the clock correction of different analysis centers, the clock correction is directly subjected to the direct difference with the I GS final product during the evaluation, and the true precision cannot be reflected. The first method is an Average method (Average) in an epoch, the second method is to randomly select one piece of satellite clock difference information to be evaluated in the epoch as clock difference selection information, namely a SatDiff method, and the third method is a least squares global optimal estimation method (OSL). Compared with the Average and SatDiff methods, the least square global optimal estimation method can fully utilize satellite information and effectively avoid distortion of other target satellites caused by overlarge clock errors of individual target satellites. Therefore, the application applies a least squares global optimal estimation method (OSL) based on a regular constraint and compares with a commonly used quadratic difference method (Average difference with reference star Satdiff); according to actual measurement data and simulation data experiments, the least square global optimal estimation method can fully utilize satellite information, effectively avoid distortion of other satellite clock error estimation caused by overlarge and rough clock errors of individual satellites, has complete elimination capability on uniformly-increased linear fixed clock error deviation, and improves accuracy and comprehensiveness of GNSS analysis center orbit and clock error product service capability of autonomous research and development.
And performing fitting calculation on the fixed deviation values in the fixed deviation sequence based on a regular constraint least square global optimal estimation method to obtain a deviation parameter matrix clock difference observation value of each piece of satellite clock difference information to be evaluated. Wherein the least squares function is as shown in formula (6):
xx ＝ (H.t()*H).i() * H.t() * yy (6)
wherein: t () is a transpose, i () is an inverse, and H is a bias value matrix constructed by a fixed bias sequence, to obtain a bias parameter matrix xx. Therefore, the accurate fixed deviation value of each satellite clock difference information to be evaluated is known according to the deviation parameter matrix.
In step S602 of some embodiments, after a deviation parameter matrix is obtained by fitting, that is, after calculating a more accurate fixed deviation value as the deviation parameter matrix, a difference value calculation is performed on each clock difference observed value in the clock difference observed sequence and each fixed deviation value in the fixed deviation sequence according to the deviation parameter matrix, so as to obtain satellite clock difference precision information, that is, obtain a satellite clock difference residual error time sequence. And knowing the clock error precision of the satellite clock error information to be evaluated at each time point according to the satellite clock error residual error time sequence.
In steps S601 to S602 illustrated in the embodiment of the present application, the clock error precision estimation is performed based on the canonical constraint least squares global optimal estimation method (OSL). Specifically, the primary difference of the satellite clock difference information to be evaluated and the clock difference reference information is used as an observation value, and the primary difference comprises a fixed deviation value, so that a deviation parameter matrix is obtained by fitting the fixed deviation value through a least square global optimal estimation method, and then the satellite clock difference residual error time sequence is obtained by carrying out difference calculation on the clock difference observation value and the fixed deviation value according to the deviation parameter matrix, so that satellite clock difference precision estimation is more accurate, and the influence of the fixed deviation value on clock difference precision estimation is eliminated.
It should be noted that, referring to fig. 7, fig. 7 is a comparison of the satellite clock error accuracy information calculated by three methods, wherein the target satellites are G01-G32 respectively, and the actual noise of the clock error is simulated by simulating clock error observations of different GNSS analysis centers, i.e. "fixed deviation", and increasing random noise (noise statistics accuracy G02 is 0.555m and G31 is 0.532 m) in a range of-3 ns to 3ns (about-0.9 to 0.9 m). The other satellites (G02-G31 satellites) are not processed (theoretical precision is 0.0 m), and three satellite clock error precision information calculation methods are evaluated. As can be seen from FIG. 7, the OSL method is closest to the theoretical value, and can identify and eliminate the "fixed deviation", while the SatDiff method selects the G01 target satellite as the reference satellite, the satellite clock difference information to be evaluated of the reference satellite is used as the clock difference selection information, and the clock difference accuracy of other target satellites is affected when the clock difference information of the selected reference satellite is large and coarse.
Referring to fig. 8, in some embodiments, step S105 may include, but is not limited to, steps S801 to S803:
Step S801, carrying out visualization processing on satellite orbit precision information and satellite clock error precision information of at least one target satellite to obtain a satellite precision view;
step S802, constructing a satellite residual time sequence view by taking time as an abscissa and satellite orbit precision information and satellite clock error precision information as an ordinate;
and step 803, performing visualization processing on the gross error evaluation information and the orbit information integrity rate to obtain a satellite gross error and integrity rate view.
In step S801 of some embodiments, the satellite orbit precision information and the satellite clock error precision information of the whole target satellite navigation system are visualized to obtain a satellite precision view, that is, the satellite orbit residual values and the satellite clock error residual values of all the target satellites are drawn. As shown in fig. 8, the satellite orbit residual value is determined by the satellite orbit precision information of each target satellite, then the satellite clock error residual value is determined according to the satellite clock error precision information, and then the satellite orbit residual values and the satellite clock error residual values of all the target satellites are drawn. As can be seen from fig. 9, the satellite orbit residual value and the satellite clock difference residual value of each of the radial, tangential and normal directions of the target satellite.
In step S802 of some embodiments, after the construction of the satellite precision views of all the target satellites is completed, the satellite orbit precision information and the satellite clock error precision information of a single target satellite are used as ordinate to construct a satellite residual time sequence view, that is, the satellite orbit residual time sequence and the clock error residual time sequence of the whole epoch are drawn to obtain the satellite residual time sequence view, and are drawn in a linear graph mode. For example, the satellite orbit residual time sequence and the clock error residual time sequence of a certain target satellite are plotted to obtain a satellite residual time sequence view as shown in fig. 10.
In step S803 of some embodiments, finally, the gross error evaluation information and the orbit information integrity rate are further visualized to obtain a satellite gross error and integrity rate view, so that an operator can intuitively know the gross error evaluation information and the orbit information integrity rate of the target satellite through the satellite gross error and integrity rate view.
In steps S801 to S803 illustrated in the embodiment of the present application, a satellite precision view is obtained by drawing satellite orbit residual values and satellite clock error residual values of all target satellites, so that the precision of the orbit correction and the clock error correction of each target satellite can be intuitively known through the satellite precision view. And simultaneously, drawing a satellite orbit residual time sequence and a clock error residual time sequence of each target satellite to obtain a satellite residual time sequence view, so that the precision change condition of the target satellite in the whole epoch is intuitively checked through the satellite residual time sequence view. And finally, carrying out visual processing on the gross error evaluation information and the orbit information integrity rate to obtain a satellite gross error and integrity rate view, and intuitively knowing the gross error evaluation information and the orbit information integrity rate of the target satellite through the satellite gross error and integrity rate view.
According to the embodiment of the application, the orbit correction, the clock correction and the broadcast ephemeris information are acquired through the communication channel, and the orbit correction is decoded based on the format of the orbit correction to obtain the original satellite position correction vector R of the satellite in the radial direction, tangential direction and normal direction s ＝[R r ，R t ，R n ]And a velocity correction parameter V s ＝[V r ，V t ，V n ]The method comprises the steps of carrying out a first treatment on the surface of the The clock correction is decoded to obtain three clock correction parameters of [ C_0, C_1, C_2 ]]. And calculating candidate satellite position correction vectors according to the original satellite position correction vectors and the satellite speed correction vectors, and converting the candidate satellite position correction vectors from an orbit coordinate system to a geodetic coordinate system to obtain satellite movement coordinate information. And carrying out difference value calculation on the original satellite coordinate information and the satellite mobile coordinate information to obtain the satellite coordinate information to be evaluated after orbit recovery. And then calculating a candidate clock difference correction value at the time t by using the clock difference correction parameter, and inputting the candidate clock difference correction value, the satellite original clock difference value and the light speed value into a formula (5) to obtain recovered satellite clock difference information to be evaluated. Calculating the difference between the satellite coordinate information to be evaluated and the satellite reference coordinate information of the same target satellite and different epochs to obtain a satellite orbit residual time sequence, calculating the difference between the satellite clock difference information to be evaluated and the clock difference reference information of the same target satellite and the same epochs to obtain a clock difference observation value, selecting clock difference selection information from the satellite clock difference information to be evaluated, and calculating the difference between the satellite clock difference information to be evaluated and the clock difference selection information to obtain a second clock difference observation value And the difference value and the second difference value are used for constructing satellite clock difference precision information, so that the precision analysis of the clock difference correction of the target satellite is more accurate. And finally, drawing satellite orbit residual values and satellite clock error residual values of all target satellites to obtain satellite precision views, drawing satellite orbit residual time sequences and clock error residual time sequences of each target satellite to obtain satellite residual time sequence views, and carrying out visual processing on rough difference evaluation information and orbit information integrity rate to obtain satellite rough difference and integrity rate views. The accuracy of the orbit correction and the clock correction of each target satellite can be intuitively known through the satellite accuracy view, the accuracy change condition of the target satellite in the whole epoch is intuitively checked through the satellite residual error time sequence view, and the rough error evaluation information and the orbit information integrity rate of the target satellite are intuitively known through the satellite rough error and integrity rate view.
Referring to fig. 11, the embodiment of the present application further provides a track and clock correction evaluation device, which can implement the track and clock correction evaluation method, where the device includes:
the data acquisition module is used for acquiring data to be analyzed of at least one target satellite navigation system; wherein, the data to be analyzed comprises: track correction, clock correction, and broadcast ephemeris information;
The decoding processing module is used for decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter;
the data calculation module is used for carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock correction calculation according to the clock correction parameters and the broadcast ephemeris information to obtain satellite clock correction information to be evaluated;
the evaluation calculation module is used for carrying out evaluation calculation on the target satellite navigation systems according to the preset satellite reference coordinate information, the satellite coordinate information to be evaluated, the preset clock error reference information and the satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite navigation system;
and the visualization module is used for carrying out visualization processing on satellite evaluation information of at least one target satellite navigation system to obtain an orbit clock error evaluation view.
The specific implementation of the track and clock correction evaluation device is basically the same as the specific embodiment of the track and clock correction evaluation method, and is not repeated here.
The embodiment of the application also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the track and clock correction evaluation method when executing the computer program. The electronic equipment can be any intelligent terminal including a tablet personal computer, a vehicle-mounted computer and the like.
Referring to fig. 12, fig. 12 illustrates a hardware structure of an electronic device according to another embodiment, the electronic device includes:
the processor 1201 may be implemented by a general purpose CPU (central processing unit), a microprocessor, an application specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solutions provided by the embodiments of the present application;
memory 1202 may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). The memory 1202 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present application are implemented by software or firmware, relevant program codes are stored in the memory 1202, and the processor 1201 invokes a track and clock correction evaluation method for executing the embodiments of the present application;
an input/output interface 1203 for implementing information input and output;
the communication interface 1204 is configured to implement communication interaction between the device and other devices, and may implement communication in a wired manner (e.g., USB, network cable, etc.), or may implement communication in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);
A bus 1205 for transferring information between various components of the device such as the processor 1201, memory 1202, input/output interface 1203, and communication interface 1204;
wherein the processor 1201, the memory 1202, the input/output interface 1203 and the communication interface 1204 enable communication connection between each other inside the device via a bus 1205.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the track and clock correction evaluation method when being executed by a processor.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiments described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and as those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
It will be appreciated by those skilled in the art that the technical solutions shown in the figures do not constitute limitations of the embodiments of the present application, and may include more or fewer steps than shown, or may combine certain steps, or different steps.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
Preferred embodiments of the present application are described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the embodiments of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall fall within the scope of the claims of the embodiments of the present application.

Claims (10)

1. A track, clock correction evaluation method, the method comprising:
acquiring data to be analyzed of a target satellite navigation system; wherein the data to be analyzed comprises: orbit correction, clock correction, and broadcast ephemeris information for at least one target satellite;
decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter;
carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock correction calculation according to the clock correction parameters and the broadcast ephemeris information to obtain satellite clock correction information to be evaluated;
evaluating and calculating the target satellites according to preset satellite reference coordinate information, the satellite coordinate information to be evaluated, preset clock error reference information and the satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite;
and carrying out visualization processing on the satellite evaluation information of at least two target satellites to obtain satellite evaluation views.
2. The method of claim 1, wherein the track correction parameters comprise: an original satellite position correction vector and a satellite velocity correction vector; the broadcast ephemeris information includes: satellite raw coordinate information and satellite raw Zhong Chazhi; the satellite coordinate calculation is performed according to the orbit correction parameter and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and the clock difference calculation is performed according to the clock difference correction parameter and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated, including:
Performing position correction calculation according to the original satellite position correction vector and the satellite speed correction vector to obtain candidate satellite position correction vectors;
performing coordinate transformation on the candidate satellite position correction vector to obtain satellite movement coordinate information;
performing difference calculation according to the original satellite coordinate information and the satellite mobile coordinate information to obtain satellite coordinate information to be evaluated;
calculating a clock correction value according to the clock correction parameter to obtain a candidate clock correction value;
and performing clock difference calculation on the candidate clock difference correction value, the satellite original clock difference value and a preset light speed value to obtain satellite clock difference information to be evaluated.
3. The method according to claim 1, wherein the performing an evaluation calculation on the target satellite according to the preset satellite reference coordinate information, the satellite coordinate information to be evaluated, the preset clock difference reference information and the satellite clock difference information to be evaluated to obtain satellite evaluation information of each target satellite includes:
performing precision calculation on the satellite coordinate information to be evaluated according to the satellite reference coordinate information to obtain satellite orbit precision information, and performing precision calculation on the satellite clock difference information to be evaluated according to the clock difference reference information to obtain satellite clock difference precision information;
Comparing the satellite orbit precision information, the satellite clock error precision information and a preset precision threshold value to obtain rough error evaluation information of the target satellite;
and calculating the number of the satellite coordinate information to be evaluated to obtain an orbit recovery number, and performing inverse proportion calculation according to the orbit recovery number and the preset satellite number to obtain the orbit information integrity rate.
4. A method according to claim 3, wherein said calculating the accuracy of the satellite coordinate information to be evaluated according to the satellite reference coordinate information to obtain satellite orbit accuracy information, and calculating the accuracy of the satellite clock difference information to be evaluated according to the clock difference reference information to obtain satellite clock difference accuracy information, comprises:
performing difference calculation on the satellite reference coordinate information and the satellite coordinate information to be evaluated in all directions to obtain satellite orbit precision information;
and performing clock error precision estimation according to the clock error reference information and the satellite clock error information to be evaluated to obtain satellite clock error precision information.
5. The method according to claim 4, wherein the performing the clock bias accuracy estimation according to the clock bias reference information and the satellite clock bias information to be evaluated to obtain the satellite clock bias accuracy information includes:
Performing difference calculation on the clock difference reference information and the satellite clock difference information to be evaluated to obtain a clock difference observation sequence; wherein the clock-difference observation sequence comprises: fixing the deviation sequence;
and carrying out precision evaluation on the satellite clock error information to be evaluated according to the fixed deviation sequence and the clock error observation sequence to obtain satellite clock error precision information.
6. The method according to claim 5, wherein the performing precision evaluation on the satellite clock difference information to be evaluated according to the fixed deviation sequence and the clock difference observation sequence to obtain the satellite clock difference precision information includes:
fitting calculation is carried out on the fixed deviation sequence based on a regular constraint least square global optimal estimation method, so that a deviation parameter matrix is obtained; the least square global optimal estimation method comprises the steps of enabling a least square function xx= (H.t (). H). I (). H.t (). Yy; xx is a deviation parameter matrix, t () is a transpose, i () is an inverse, and H is a deviation value matrix constructed by a fixed deviation sequence;
and calculating the difference value between the clock error observation value in the clock error observation sequence and the fixed deviation value of the fixed deviation sequence according to the deviation parameter matrix to obtain the satellite clock error precision information.
7. A method according to claim 3, wherein said visualizing said satellite estimate information for at least two of said target satellites to obtain a satellite estimate view comprises:
performing visualization processing on the satellite orbit precision information and the satellite clock error precision information of at least two target satellites to obtain satellite precision views;
taking time as an abscissa, and taking the satellite orbit precision information and the satellite clock error precision information as an ordinate to construct a satellite residual error time sequence view;
and carrying out visual processing on the rough and poor evaluation information and the orbit information integrity rate to obtain satellite rough and poor and integrity rate views.
8. A track, clock correction evaluation apparatus, the apparatus comprising:
the data acquisition module is used for acquiring data to be analyzed of at least one target satellite navigation system; wherein the data to be analyzed comprises: track correction, clock correction, and broadcast ephemeris information;
the decoding processing module is used for decoding the track correction to obtain a track correction parameter, and decoding the clock correction to obtain a clock correction parameter;
The data calculation module is used for carrying out satellite coordinate calculation according to the orbit correction parameters and the broadcast ephemeris information to obtain satellite coordinate information to be evaluated, and carrying out clock difference calculation according to the clock difference correction parameters and the broadcast ephemeris information to obtain satellite clock difference information to be evaluated;
the evaluation calculation module is used for carrying out evaluation calculation on the target satellite navigation systems according to preset satellite reference coordinate information, the satellite coordinate information to be evaluated, preset clock error reference information and the satellite clock error information to be evaluated to obtain satellite evaluation information of each target satellite navigation system;
and the visualization module is used for carrying out visualization processing on the satellite evaluation information of at least two target satellite navigation systems to obtain an orbit clock error evaluation view.
9. An electronic device comprising a memory storing a computer program and a processor implementing the track, clock correction estimation method according to any one of claims 1 to 7 when the computer program is executed by the processor.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the track, clock correction estimation method of any one of claims 1 to 7.
CN202310094951.9A 2023-01-31 2023-01-31 Track, clock correction evaluation method and device, equipment and storage medium Pending CN116184442A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310094951.9A CN116184442A (en) 2023-01-31 2023-01-31 Track, clock correction evaluation method and device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310094951.9A CN116184442A (en) 2023-01-31 2023-01-31 Track, clock correction evaluation method and device, equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116184442A true CN116184442A (en) 2023-05-30

Family

ID=86450195

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310094951.9A Pending CN116184442A (en) 2023-01-31 2023-01-31 Track, clock correction evaluation method and device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN116184442A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116559915A (en) * 2023-07-10 2023-08-08 北京路凯智行科技有限公司 Satellite ephemeris injection method for mine satellite navigation positioning
CN116626724A (en) * 2023-07-24 2023-08-22 齐鲁空天信息研究院 SSR information transmission and evaluation method based on digital broadcasting
CN116990834A (en) * 2023-07-07 2023-11-03 中国科学院空天信息创新研究院 Real-time satellite precise orbit product precision evaluation method and device and electronic equipment
CN117031502A (en) * 2023-07-03 2023-11-10 哈尔滨工程大学 Real-time PPP-RTK satellite Zhong Gui correction product integrity monitoring method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117031502A (en) * 2023-07-03 2023-11-10 哈尔滨工程大学 Real-time PPP-RTK satellite Zhong Gui correction product integrity monitoring method
CN117031502B (en) * 2023-07-03 2024-04-30 哈尔滨工程大学 Real-time PPP-RTK satellite Zhong Gui correction product integrity monitoring method
CN116990834A (en) * 2023-07-07 2023-11-03 中国科学院空天信息创新研究院 Real-time satellite precise orbit product precision evaluation method and device and electronic equipment
CN116559915A (en) * 2023-07-10 2023-08-08 北京路凯智行科技有限公司 Satellite ephemeris injection method for mine satellite navigation positioning
CN116559915B (en) * 2023-07-10 2023-11-24 北京路凯智行科技有限公司 Satellite ephemeris injection method for mine satellite navigation positioning
CN116626724A (en) * 2023-07-24 2023-08-22 齐鲁空天信息研究院 SSR information transmission and evaluation method based on digital broadcasting
CN116626724B (en) * 2023-07-24 2023-10-10 齐鲁空天信息研究院 SSR information transmission and evaluation method based on digital broadcasting

Similar Documents

Publication Publication Date Title
CN116184442A (en) Track, clock correction evaluation method and device, equipment and storage medium
US11237276B2 (en) System and method for gaussian process enhanced GNSS corrections generation
US20240142637A1 (en) System and method for gaussian process enhanced gnss corrections generation
WO2023134666A1 (en) Terminal positioning method and apparatus, and device and medium
Bai et al. Using Sky‐pointing fish‐eye camera and LiDAR to aid GNSS single‐point positioning in urban canyons
CN110376620B (en) Real-time clock error forecasting method and device and computer equipment
CN112327340B (en) Terminal positioning accuracy evaluation method, device, equipment and medium
Arana et al. Efficient integrity monitoring for kf-based localization
CN113917510A (en) Data processing method, device, equipment, storage medium and computer program product
Larson et al. Gaussian‐Pareto overbounding of DGNSS pseudoranges from CORS
KR20200116729A (en) Method and System for Reduction of Time to First Fix of High Integrity RTK-GNSS
JP6596247B2 (en) POSITION CONVERSION SYSTEM, POSITIONING TERMINAL DEVICE, AND POSITION CONVERSION PROGRAM
Bauer et al. Evaluation of shadow maps for non-line-of-sight detection in urban GNSS vehicle localization with VANETs-The GAIN approach
Bhamidipati et al. Distributed cooperative SLAM-based integrity monitoring via a network of receivers
Elsayed et al. Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles
Bhamidipati et al. Integrity-driven landmark attention for GPS-vision navigation via stochastic reachability
Karlsson et al. A statistical GPS error model for autonomous driving
WO2020255796A1 (en) Receiver terminal, positioning method, and program
Bhamidipati et al. Robust GPS-vision localization via integrity-driven landmark attention
El-Mowafy et al. Prediction of RTK positioning integrity for journey planning
Aghapour et al. Outlier accommodation in moving‐horizon state estimation: A risk‐averse performance‐specified approach
Yang et al. ARAIM Stochastic Model Refinements for GNSS Positioning Applications in Support of Critical Vehicle Applications
CN107194161A (en) The ARAIM availabilities Forecasting Methodology and device being classified based on user's request
Kim et al. ARMA prediction of SBAS ephemeris and clock corrections for low earth orbiting satellites
Su et al. Receiver autonomous integrity monitoring (RAIM) performances of combined GPS/BeiDou/QZSS in urban canyon

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination