CN117055079B - Total electron content determination method, device, electronic equipment and readable storage medium - Google Patents

Abstract

The embodiment of the application discloses a method and a device for determining total electron content, electronic equipment and a readable storage medium, wherein the method comprises the following steps: acquiring a pseudo-range observation value and a carrier phase observation value; the pseudo-range observation value and the carrier phase observation value are received by a Global Navigation Satellite System (GNSS) receiver carried on a low orbit earth LEO satellite; establishing a target equation according to the pseudo-range observation value and the carrier phase observation value, wherein the target equation comprises a target coefficient and a receiver-side pseudo-range code deviation; solving a target coefficient value of a target coefficient in a target equation and a deviation value of a receiver-end pseudo-range code deviation; and determining the vertical total electronic content VTEC of the ionosphere according to the pseudo-range observation value, the target coefficient value and the deviation value of the pseudo-range code deviation of the receiver end.

Description

Total electron content determination method, device, electronic equipment and readable storage medium

Technical field

The present application belongs to the field of information processing technology, and in particular relates to a method, device, electronic equipment and readable storage medium for determining total electron content.

Background technique

At present, the earth's ionosphere, as an important part of the sun-terrestrial space environment, has an important impact on human production and life. Due to the influence of cosmic or solar activities, charged particles in the ionosphere region will become extremely active. For navigation and positioning, the signal delay error generated when the radio signal passes through the ionosphere will reach several meters to hundreds of meters, which will seriously limit Satellite navigation and positioning services. Among them, Total Electron Content (TEC) is an important indicator for measuring the density of the ionosphere in the Earth's atmosphere. This indicator can reflect the thickness of the Earth's atmospheric ionosphere and can also provide signal channel information for satellite communications. Therefore, determining TEC is of great significance to satellite navigation.

For the convenience of research, the TEC on the GNSS signal propagation path can generally be converted into the total electron content in the zenith direction of the puncture point through the ionospheric projection function, that is, VTEC.

Since Global Navigation Satellite System (GNSS) monitoring stations need to be built on solid and stable ground, and most of the earth's surface is covered by oceans, effective monitoring cannot be carried out over most of the earth's ocean areas. In addition, as With the development of human aerospace technology, more and more artificial satellites will be launched into orbit in the future. GNSS receivers mounted on low-orbit satellites can not only obtain LEO precise position information, but also obtain GNSS electronic total content information; GNSS TEC The data can be used as one of the important products of space weather research due to its global coverage, high accuracy and high spatial and temporal resolution.

Contents of the invention

Embodiments of the present application provide a method, device, equipment and readable storage medium for determining total electron content, which can solve the current problems of limited monitoring range and low accuracy of ionospheric VTEC.

In a first aspect, embodiments of the present application provide a method for determining total electron content, which method includes:

Obtain pseudorange observation values and carrier phase observation values; among which, pseudorange observation values and carrier phase observation values are received by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite;

Establish a target equation based on the pseudorange observation values and carrier phase observation values. The target equation includes the target coefficient and the receiver-side pseudorange code deviation;

Solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end;

According to the deviation value of the pseudorange observation value, the target coefficient value and the pseudorange code deviation at the receiver end, the vertical total electron content VTEC of the ionosphere is determined.

In a second aspect, embodiments of the present application provide a device for determining total electron content, which device includes:

The acquisition module is used to obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by the GNSS receiver mounted on the LEO satellite;

The establishment module is used to establish a target equation based on the pseudorange observation value and the carrier phase observation value. The target equation includes the target coefficient and the receiver-end pseudorange code deviation;

The solving module is used to solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end;

The determination module is used to determine the VTEC of the ionosphere based on the deviation value of the pseudorange observation value, the target coefficient value and the pseudorange code deviation at the receiver end.

In a third aspect, embodiments of the present application provide an electronic device. The device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the first aspect or any one of the first aspects. Methods in possible implementations.

In a fourth aspect, embodiments of the present application provide a readable storage medium. Computer program instructions are stored on the computer-readable storage medium. When the computer program instructions are executed by a processor, the implementation of the first aspect or any one of the first aspects is implemented. Methods in possible implementations.

In the embodiment of this application, the pseudorange observation value and the carrier phase observation value are obtained; wherein the pseudorange observation value and the carrier phase observation value are received by the Global Navigation Satellite System GNSS receiver mounted on the LEO satellite in low orbit; here, LEOs operating in orbit can fly around the world. Correspondingly, the GNSS receivers mounted on LEOs operating in orbit also move globally. Therefore, ionospheric monitoring over ocean areas can be realized, the monitoring range can be improved, and the current ionospheric VTEC problems can be solved. The problem of limited monitoring range; establish a target equation based on the pseudorange observation value and the carrier phase observation value. The target equation includes the target coefficient and the receiver-side pseudorange code deviation; then, solve the target coefficient value and the target coefficient value in the target equation The deviation value of the pseudorange code deviation at the receiver end. Here, the target coefficient value and the deviation value of the pseudorange code deviation at the receiver end can be quickly and accurately determined; finally, based on the pseudorange observation value, the target coefficient value and the calculated high The accurate deviation value of the pseudorange code deviation at the receiver side determines the vertical total electron content VTEC of the ionosphere. This enables real-time high-precision calculation of VTEC at the LEO side.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the drawings required to be used in the embodiments of the present application will be briefly introduced below. For those of ordinary skill in the art, without exerting creative efforts, they can also Additional drawings can be obtained from these drawings.

Figure 1 is a flow chart of a method for determining total electron content provided by an embodiment of the present application;

Figure 2 is a flow chart for establishing an objective equation provided by an embodiment of the present application;

Figure 3 is a flow chart for determining weight values provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a total electron content determination device provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application.

Detailed ways

Features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "including..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

First, the technical terms involved in the embodiments of this application are introduced.

GNSS, also known as Global Satellite Navigation System, is a space-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, speed and time information at any location on the earth's surface or near-Earth space. It consists of one or more satellite constellations and their augmentation systems required to support specific operations.

The epoch marks the beginning of time in the calendar. In astronomy , some astronomical variables are used as reference points in time, such as celestial coordinates or elliptical orbit elements of celestial bodies , because these will be perturbed and change with time.

The ionosphere is an ionized region of the Earth's atmosphere. The entire Earth's atmosphere above 60 kilometers is in a state of partial or complete ionization. The ionosphere is a partially ionized atmospheric region, and the fully ionized atmospheric region is called the magnetosphere. Some people also call the entire ionized atmosphere the ionosphere, so the magnetosphere is regarded as part of the ionosphere.

Gas molecules in the troposphere are strongly ionized due to various radiations from celestial bodies such as the sun, forming a large number of free electrons and positive ions, and the density of the two is equal. The presence of charged particles will affect the propagation of electromagnetic waves, causing the propagation speed to change. The propagation path is curved, so that the product of the signal propagation time At and the speed of light C in vacuum is not equal to the geometric distance P from the signal sending point to the signal receiving point. This deviation is the so-called ionospheric delay or ionospheric refraction error.

The size of the ionospheric delay depends on the total electron content on the signal propagation path and the frequency of the signal, and the total electron content is related to multiple factors such as time, station location, sunspot number, season, and height from the ground. Like other electromagnetic waves, when the navigation satellite signal passes through the ionosphere, the path of the navigation satellite signal also bends and the propagation speed also changes.

In physics, charged particles refer to particles with an electric charge. It can be a subatomic particle or an ion.

Low Earth Orbit Satellite (LEO) orbits generally range from 400 to 2,000 kilometers above the ground.

The full name of GNSS is Global Navigation Satellite System. GNSS is the unified name for individual satellite navigation and positioning systems and enhanced systems such as Beidou system, GPS, GLONASS, and Galileo system.

Global Positioning System (Global Position System), a system for positioning and navigation on a global scale, is called GPS.

Global Navigation Satellite System (GLObal Navigation Satellite System, GLONASS, GLONASS), also known as GLONASS.

Galileo Satellite Navigation System (GALILEO) is a global satellite navigation and positioning system developed and established by the European Union. The plan was announced by the European Commission in February 1999. The European Commission and ESA are jointly responsible.

Beidou Navigation Satellite System (BDS) is a global satellite navigation system independently developed by China. It is also the third mature satellite navigation system after GPS and GLONASS.

The Quasi-Zenith Satellite System (QZSS) is a satellite amplification system that uses three artificial satellites to complete the regional functions of the Global Positioning System through time transfer.

Broadcast ephemeris is determined and provided by the ground control part of the GNSS system. The radio signals broadcast by navigation satellites carry message information that predicts the number of satellite orbits within a certain period of time.

Geomagnetic coordinates are a term specific to astronomy. Magnetosphere coordinate system, various coordinate systems formulated based on the characteristics of the geomagnetic field. The processes in the magnetosphere are controlled by the geomagnetic field, and the coordinate system determined according to the characteristics of the geomagnetic field can describe this process relatively simply.

Receiver hardware delays (Differential Code Biases, DCB) are the main source of errors in extracting ionospheric TEC using GNSS data.

The Receiver Independent Exchange Format (RINEX) is a standard data format commonly used in GNSS measurement applications. This format uses text files to store data, and the data recording format is independent of the manufacturer and specific model of the receiver.

The method for determining the total electron content provided by the embodiments of the present application can be applied to at least the following application scenarios, which will be described below.

As an important part of the solar-terrestrial space environment, the earth's ionosphere has an important impact on human production and life. Due to the influence of cosmic or solar activities, charged particles in the ionosphere area will become extremely active. For navigation and positioning, the signal delay error when the radio signal passes through the ionosphere will reach several meters to hundreds of meters, which will seriously limit satellite navigation and positioning. Serve.

The use of GNSS means to monitor the ionosphere is often carried out using ground monitoring stations. Since GNSS monitoring stations need to be established on solid and stable ground, most of the earth's surface is covered by oceans, and ground stations cannot be evenly distributed, making it ineffective over most ocean areas of the earth. monitor.

With the improvement of the four major GNSS navigation systems and the continuous development of aerospace technology, the number of LEO satellites will continue to increase in the future, and more of them will be equipped with GNSS receivers. While providing navigation and positioning functions, they can also provide detection of the ionosphere.

Normally, the dual-frequency ionospheric observations used in GNSS ionospheric TEC calculations include satellite-side hardware code deviations and receiver-side hardware code deviations that need to be deducted. The satellite-side code deviation has good long-term stability and can be regarded as a constant estimate on a daily/weekly/monthly basis. However, the receiver-side code deviation will fluctuate within the day due to changes in the surrounding environment (such as temperature), which provides ionospheric delay estimates. bring adverse effects.

Based on the above application scenario, the method for determining the total electron content provided by the embodiment of the present application will be described in detail below.

Figure 1 is a flow chart of a method for determining total electron content provided by an embodiment of the present application.

As shown in Figure 1, the total electron content determination method may include steps 110 to 140. The method is applied to the total electron content determination device, specifically as follows:

Step 110, obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite;

Step 120: Establish a target equation based on the pseudorange observation value and the carrier phase observation value. The target equation includes the target coefficient and the receiver-end pseudorange code deviation;

Step 130: Solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end;

Step 140: Determine the vertical total electron content VTEC of the ionosphere based on the pseudorange observation value, the target coefficient value and the deviation value of the pseudorange code deviation at the receiver end.

In the method for determining the total electron content provided by this application, pseudorange observation values and carrier phase observation values are obtained; among which, the pseudorange observation values and carrier phase observation values are obtained by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite. Received; here, the LEO operating in orbit can fly around the world. Correspondingly, the GNSS receiver mounted on the LEO operating in orbit also moves globally, so the ionospheric monitoring over the ocean area can be realized and the monitoring range can be improved; according to The pseudorange observation value and the carrier phase observation value are used to establish a target equation, which includes the target coefficient and the receiver-side pseudorange code deviation; then, solve the target coefficient value of the target coefficient in the target equation and the receiver-side pseudorange code deviation. Deviation value, here, the deviation value of the target coefficient value and the pseudorange code deviation at the receiver end can be quickly and accurately determined; finally, based on the deviation value of the pseudorange observation value, the target coefficient value and the pseudorange code deviation at the receiver end, determine The vertical total electron content VTEC of the ionosphere, thus enabling real-time high-precision calculation of VTEC at the LEO end.

Below, the contents of steps 110 to 140 are described respectively:

Step 110 is involved.

Step 110, obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite;

Among them, the accuracy of the obtained pseudorange observation values is generally at the meter level; the accuracy of the carrier phase observation values is generally at the millimeter level, so it is necessary to collect the pseudorange observation values and the carrier phase observation value, and perform subsequent calculations at the same time.

Among them, the carrier phase observation value refers to the GNSS observation information. The GNSS observation information can specifically include: GPS system dual-frequency observation value, GLONASS system dual-frequency observation value, GALILEO system dual-frequency observation value, BDS system dual-frequency observation value and QZSS system dual-frequency observation value. Frequency observation values, the sampling interval can be high-frequency sampling such as 0.1 second, 1 second or 5 seconds.

Among them, the corresponding relationship between the navigation system and the pseudorange observation type is shown in Table 1:

Table 1

In the embodiment of the present application, the pseudorange observation value and the carrier phase observation value received by the GNSS receiver mounted on the low-orbiting LEO satellite are obtained. Here, the LEO operating in orbit can fly around the world. Correspondingly, the in-orbit The GNSS receiver mounted on the operating LEO also moves around the world, so it can realize ionospheric monitoring over the ocean area, improve the monitoring range, and solve the current problem of limited monitoring range of ionospheric VTEC.

Step 120 is involved.

Step 120: Establish a target equation based on the pseudorange observation value and the carrier phase observation value. The target equation includes the target coefficient and the receiver-end pseudorange code deviation;

Establish a target equation based on pseudorange observations and carrier phase observations, as follows:

in, is the weight matrix,/> is the phase smoothing pseudorange matrix,/> is the first matrix, where the first matrix includes the parameters to be estimated,/> is the second matrix. The weight matrix, the phase smoothing matrix, the first matrix and the second matrix are all determined by the pseudorange observation value and the carrier phase observation value. Among them, the original observations of pseudorange observations and carrier phase observations can be expressed as:

In the formula: c is the speed of light;

s represents the navigation satellite and r represents the LEO satellite.

, represents the pseudorange observation value;

, represents the carrier phase observation value;

Indicates frequency;/> Indicates the distance between stars and ground;/> Indicates clock error;/> and/> Represents the tropospheric projection function and zenith delay;/> and/> Represents the ionospheric delay coefficient and delay value;/> and/> Represent pseudorange deviation and phase deviation respectively;/> and/> Represents frequency wavelength and integer ambiguity;/> and/> Represents pseudorange and phase observation noise.

In a possible embodiment, step 120 includes:

Step 210, establish a first matrix based on the target coefficient and the receiver-side pseudorange code deviation;

Step 220: Create a second matrix based on the carrier phase observation value and the pre-established projection function;

Step 230: Determine the phase smoothing pseudorange matrix based on the pseudorange observation value and the carrier phase observation value;

Step 240: Establish a weight matrix based on the carrier phase observation value;

Step 250: Establish a target equation based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix. Next, steps 210 to 250 are explained in sequence:

Step 210: Create a first matrix based on the target coefficient and the receiver-end pseudorange code deviation.

In a possible embodiment, the target coefficient includes a first coefficient, a second coefficient and a third coefficient. Step 210 includes:

A first matrix is established based on the first coefficient, the second coefficient, the third coefficient and the receiver-end pseudorange code deviation; wherein the functional relationship between geomagnetic coordinates and VTEC includes the first coefficient, the second coefficient and the third coefficient.

,/>

Among them, a ₀ , a ₁ and a ₂ are the first coefficient, the second coefficient and the third coefficient respectively; here, it is assumed that a certain epoch can observe m systems and a total of n satellites, represents the system, m is a positive integer, n represents the number of navigation satellites, and n is a positive integer. is the pseudorange code deviation at the receiver;/> is the satellite pseudorange code deviation.

Here, the receiver-side pseudorange code deviation in the first matrix is an unknown number, which is the value that needs to be solved.

The functional relationship between geomagnetic coordinates and VTEC is:

Among them, the geomagnetic coordinates are (M, L), and the functional relationship between the geomagnetic coordinates and VTEC includes the first coefficient, the second coefficient and the third coefficient.

Step 220: Create a second matrix based on the carrier phase observation value and the pre-established projection function.

in, is the frequency coefficient;

In a possible embodiment, before step 220, the method further includes:

Obtain the radius of the earth, the effective height of the ionosphere, the orbital height and zenith angle of low-orbit satellites;

A projection function is established based on the radius of the earth, the effective height of the ionosphere, the orbital height of the low-orbit satellite, and the zenith angle.

in, is the projection function,/> is the radius of the earth,/> is the ionosphere effective height (IEH),/> is the orbital altitude of the low-orbit satellite,/> It's the zenith angle.

Step 230: Determine the phase smoothing pseudorange matrix based on the pseudorange observation value and the carrier phase observation value.

L=

Among them, s represents the navigation satellite, r represents the LEO satellite, n represents the number of navigation satellites, and n is a positive integer. smth represents phase smoothing processing.

In a possible embodiment, step 230 includes:

According to the pseudorange observation value and the carrier phase observation value, the geometrically combined observation quantity is calculated;

Determine the phase smoothing pseudorange matrix based on the geometrically uncombined observations. Here, the carrier phase observation data of two frequencies in the GNSS signal are used to form a geometric distance-free combination to detect cycle slips. Taking L1 and L2 as an example, the L1 and L2 frequency points are used to identify electromagnetic waves of different wavelengths respectively.

Geometry-Free (GF) is formed based on the L1 and L2 frequency signals;

Among them, based on the pseudorange observation value and the carrier phase observation value, the calculation of the geometrically free combination observation quantity may include:

;

;

in, It is the absolute TEC calculated based on pseudorange observations;/> is the frequency coefficient, which is determined based on the frequency of L1 and the frequency of L2;

is the absolute TEC calculated based on carrier phase observations.

In the formula:

in, is the frequency of L1,/> is the frequency of L2;

For the pseudorange and carrier phase GF observations of the first k consecutive observations, we can get:

in, Represents ambiguity;

Among them, the phase smoothing pseudorange matrix is determined based on the geometrically combined observations, which may include:

Here, the pseudorange observation values and carrier phase observation values are smoothed, and the processing results can be considered as continuous pseudorange observation values and carrier phase observation values.

The above formula indicates that the ionospheric observation value is obtained by subtracting the ambiguity from the carrier phase observation value. The ionospheric observation value is equal to the ionospheric model plus the receiver-end pseudorange code deviation.

Step 240: Establish a weight matrix based on the carrier phase observation value. Here, based on the carrier phase observation values, various types of observation values are comprehensively weighted from three perspectives: altitude angle, signal strength, and smoothing length of the phase smooth pseudorange, and a weight matrix is established.

In a possible embodiment, step 240 includes:

Obtain the altitude angle between the LEO satellite and the navigation satellite, the signal strength and smoothing length of the signal sent by the navigation satellite to the LEO satellite from the carrier observation information;

Based on the altitude angle, signal strength and smoothing length, a weight matrix is established.

Among them, the carrier observation information includes the altitude angle between the LEO satellite and the navigation satellite, the signal strength and smoothing length of the signal sent by the navigation satellite to the LEO satellite. The altitude angle, signal strength and smoothing length can be obtained from the carrier observation information, and a weight matrix can be established based on the altitude angle, signal strength and smoothing length.

Among them, s represents the navigation satellite, r represents the LEO satellite, and n represents the number of navigation satellites;

r1 represents the altitude angle weight value; r2 represents the signal strength weight value; r3 represents the smoothing length weight value.

Among them, the above-mentioned steps of establishing a weight matrix based on the altitude angle, signal strength and smoothing length include:

Step 310: Determine the altitude angle weight value based on the altitude angle;

Step 320: Determine the signal strength weight value based on the signal strength;

Step 330: Calculate the smoothing length weight value based on the smoothing length;

Among them, the weight matrix includes: altitude angle weight value, signal strength weight value and smoothing length weight value.

Among them, the signal transmitted by the navigation satellite will be attenuated after passing through the atmosphere and water vapor in the atmosphere, and being reflected by the satellite square plate. Since the signal emission intensity is fixed, after attenuation, the received signal intensity reaching the receiver will change. Therefore, The signal strength weight value corresponding to the signal strength needs to be considered.

Since the measurement of the pseudorange observation value is a direct measurement and a coarse-precision measurement, the pseudorange observation value can be smoothed by the carrier phase observation value.

Phase smoothing pseudo-range is to obtain data similar to pseudo-range by smoothing the phase of the satellite signal received by the GPS receiver.

In a possible embodiment, step 310 includes:

When the altitude angle is less than the first threshold, determine the altitude angle weight value as the first weight value; or,

When the altitude angle is not less than the first threshold, determine the second weight value based on the altitude angle;

Determine the altitude angle weight value as the second weight value;

Wherein, the first weight value is greater than the second weight value.

In ionospheric modeling or monitoring applications based on ground stations, observation data with altitude angles below 15 degrees are generally discarded. However, the amount of data available at a LEO single station is limited, and considering the possible errors caused by low altitude angles, for 15 degrees The following data will be appropriately downgraded;

Among them, ELE is the altitude angle;

When the altitude angle is less than the first threshold (for example, 15 degrees), the altitude angle weight value is determined as the first weight value. ;

When the altitude angle is not less than the first threshold, the second weight value is determined based on the altitude angle, that is, the second weight value is .

In the case where the first threshold is 15 degrees, since Approximately equal to 0.65,/> is greater than 1, so the first weight value is greater than the second weight value.

In a possible embodiment, step 320 includes:

Obtain the phase tracking loop bandwidth and carrier phase wavelength of the signal;

The signal strength weight value is determined based on the signal strength, phase tracking loop bandwidth and carrier phase wavelength.

Signal strength can directly reflect the reception quality of the observed value, and can be obtained directly from the RINEX file. The value range is 1-9, which represents the signal strength from small to large. The weighting formula based on the signal strength weight value is:

in, ,/> is the phase tracking loop bandwidth (HZ),/> is the carrier phase wavelength (m).

Therefore, the signal strength weight value can be determined based on the signal strength, phase tracking loop bandwidth and carrier phase wavelength.

In a possible embodiment, step 330 includes:

When the smoothing length is less than the second threshold, determine the third weight value based on the second threshold and the smoothing length;

Determine the smoothing length weight value as the third weight value; or,

When the smoothing length is not less than the second threshold, determine the altitude angle weight value as the fourth weight value;

Wherein, the third weight value is smaller than the fourth weight value.

Different from the ground station observing GNSS satellites, the highly dynamic LEO receiver observes the GNSS satellites for a short time. Considering that the multipath error can only be eliminated after averaging over a long arc segment, during the real-time solution process, due to a certain arc The observation data in the front part of the segment are greatly affected by multipath errors and need to be weighted down;

Among them, LEN is the smoothing length;

When the smoothing length is less than the second threshold, the third weight value is determined based on the second threshold and the smoothing length. That is, the quotient of the second threshold and the smoothing length can be used as the third weight value, and then the smoothing length weight value is determined. is the third weight value; or,

In the case where the smoothing length is not less than the second threshold, the altitude angle weight value is determined as a fourth weight value, where the fourth weight value may be 1.

Wherein, when the smoothing length is less than the second threshold, the quotient of the second threshold and the smoothing length is greater than 1. Therefore, the fourth weight value is greater than the third weight value.

Step 250: Establish a target equation based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix.

Therefore, the target equation can be established based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix respectively constructed above.

Step 130 is involved.

Step 130: Solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end;

Here, the sequential least squares method can be used to model the ionospheric TEC of a single station and estimate the pseudorange code deviation, and then calculate the pseudorange code deviation value at the receiver end, and then calculate the VTEC value of each station-satellite connection in the current epoch.

In a possible embodiment, the target coefficient includes a first coefficient, a second coefficient and a third coefficient. Step 130 includes:

Based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix, solve the first coefficient value of the first coefficient, the second coefficient value of the second coefficient, the third coefficient value of the third coefficient and the pseudo range of the receiver end. Deviation value from code deviation.

in Correspond to the above three weighting methods, namely, altitude angle weight value, signal strength weight value and smoothing length weight value.

Among them, the unknown quantities in the target equation include: the target coefficient value of the target coefficient and the deviation value of the pseudorange code deviation at the receiver end.

In the embodiment of the present application, the target coefficient value of the target coefficient in the target equation established based on the pseudorange observation value and the carrier phase observation value and the deviation value of the pseudorange code deviation at the receiver end are solved. Here, it is possible to quickly and accurately determine The deviation value of the target coefficient value and the receiver-side pseudorange code deviation is obtained, so that the vertical position of the ionosphere can be determined later based on the pseudorange observation value, the target coefficient value and the calculated high-precision deviation value of the receiver-side pseudorange code deviation. Total electron content VTEC to achieve real-time high-precision calculation of VTEC at the LEO end.

Step 140 is involved.

Step 140: Determine the vertical total electron content VTEC of the ionosphere based on the pseudorange observation value, the target coefficient value and the deviation value of the pseudorange code deviation at the receiver end.

For single-station ionospheric modeling, you can choose polynomial function models, trigonometric function models, and low-order spherical harmonic function models. Here we take the polynomial function model as an example:

In a possible embodiment, step 140 includes:

The VTEC is determined based on the pseudorange observation value, the first coefficient value, the second coefficient value, the third coefficient value and the receiver end pseudorange code deviation.

Among them, the polynomial function model involved above is:

Among them, the geomagnetic coordinates are (M, L), and/> , respectively, are the first coefficient value, the second coefficient value and the third coefficient value solved based on the above target equation.

In a possible embodiment, step 140 includes:

Determine geomagnetic coordinates, satellite altitude angle and azimuth angle information based on pseudorange observations and acquired broadcast ephemeris information;

The VTEC is determined based on the geomagnetic coordinates, satellite altitude angle, azimuth angle information, target coefficient value and the deviation value of the pseudorange code deviation at the receiver end.

Broadcast ephemeris information is the message information broadcast by navigation satellites about the number of satellite orbits in the future.

In a possible embodiment, the above-mentioned steps of determining geomagnetic coordinates, satellite altitude angle, and azimuth angle information based on pseudorange observations and acquired broadcast ephemeris information include:

Perform real-time single point positioning based on pseudorange observations and broadcast ephemeris information, and calculate the position information of the receiver;

Based on the position information of the receiver, the geomagnetic coordinates, satellite altitude angle and azimuth angle information of the ionospheric penetration point are calculated.

GNSS pseudorange observations and broadcast ephemeris information are used to perform real-time single point positioning of the receiver, obtain the three-dimensional coordinates of the receiver, and then calculate the geomagnetic coordinates of the ionosphere penetration point.

In a possible embodiment, obtain the historical temperature value of the receiver, and the historical deviation value of the receiver-end pseudorange code deviation corresponding to the historical temperature value;

Based on the historical temperature value and historical deviation value, a polynomial function between the pseudorange code deviation at the receiver end and the temperature information of the receiver is established. The polynomial function includes multiple parameters;

According to the polynomial function and the obtained temperature value of the receiver, the deviation value of the pseudorange code deviation at the receiver end is estimated.

GNSS receiver temperature information refers to the real-time temperature situation of the satellite receiver, and its sampling interval is consistent with the GNSS observation value.

At the same time, taking into account that the TEC model parameters and the receiver-side pseudorange code deviation are estimated at each epoch, in order to prevent matrix calculation rank deficiency, a virtual observation equation is added for constraints;

The historical temperature value can be a temperature collected every second, or a calibration value can be given; based on the pseudorange observation value, an ionospheric model is constructed, and the deviation value of the pseudorange code deviation at the receiver can be estimated.

For the receiver end code deviation constraint, the collected receiver temperature information and the DCB value estimated at the previous epoch are constructed into a corresponding function model to predict the DCB value of the current epoch; since the pseudorange code deviation will change with the daily change of temperature , here the relationship between the pseudorange code deviation at the receiver end and the internal temperature of the receiver is established using a polynomial function:

Among them, a is the model parameter, t is the temperature value, and F(t) is the pseudorange code deviation at the receiver end.

In a possible embodiment, after the above-mentioned steps of establishing a polynomial function between the receiver-end pseudorange code deviation and the temperature information of the receiver based on the historical temperature value and the historical deviation value, it may also include:

Adjust the parameters in the polynomial function so that the pseudorange code deviation at the receiver is within the preset range. For the satellite code deviation parameter constraints, a set of satellite code deviation values are calculated through the accumulation of daily normal equations, which are used as tight constraints for the next day's TEC solution; at the same time, the zero-mean constraint is used to benchmark the satellite code deviations of each system. Unite.

Since the space environment is relatively stable, the internal delay of GNSS satellites is stable;

LEO is flying at high speed, and the pseudorange code deviation at the receiver changes frequently;

Each parameter in the polynomial function corresponds to a matrix. In order to ensure that the pseudorange code deviation at the receiver is within a preset range, the polynomial function can be adjusted. That is, the parameters in the polynomial function can be adjusted so that the estimated pseudorange code deviation at the receiver end within the preset range does not exceed the preset range.

Therefore, the embodiments of the present application can perform real-time TEC calculation on the satellite to conduct real-time monitoring of the ionospheric delay changes in the upper layer of the satellite orbit, which is useful for studying the boundary height of each layer of the ionosphere, monitoring solar activity, and ionospheric anomalies. and ionization chromatography, etc. bring useful help.

To sum up, in the embodiment of this application, the pseudorange observation value and the carrier phase observation value are obtained; wherein the pseudorange observation value and the carrier phase observation value are received by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite. Obtained; here, the LEO operating in orbit can fly around the world. Correspondingly, the GNSS receiver mounted on the LEO operating in orbit also moves globally, so the ionospheric monitoring over the ocean area can be realized and the monitoring range can be improved; according to the pseudo Establish a target equation from the observed value and carrier phase observation value. The target equation includes the target coefficient and the receiver-side pseudorange code deviation; then, solve the target coefficient value of the target coefficient in the target equation and the deviation of the receiver-side pseudorange code deviation. value, here, the deviation value of the target coefficient value and the receiver-side pseudorange code deviation can be quickly and accurately determined; finally, based on the deviation value of the pseudorange observation value, the target coefficient value, and the receiver-side pseudorange code deviation, the ionization The vertical total electron content VTEC of the layer can be calculated in real time at the LEO end with high precision.

Based on the total electron content determination method shown in Figure 1 above, embodiments of the present application also provide a data processing device. As shown in Figure 4, the device 400 may include:

The acquisition module 410 is used to obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by the GNSS receiver mounted on the LEO satellite;

The establishment module 420 is used to establish a target equation based on the pseudorange observation value and the carrier phase observation value. The target equation includes the target coefficient and the receiver end pseudorange code deviation;

The solving module 430 is used to solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end;

The determination module 440 is used to determine the VTEC of the ionosphere based on the pseudorange observation value, the target coefficient value and the deviation value of the pseudorange code deviation at the receiver end.

In a possible embodiment, the determining module 440 is specifically used to:

Determine geomagnetic coordinates, satellite altitude angle and azimuth angle information based on the pseudorange observation values and the obtained broadcast ephemeris information;

The VTEC is determined based on the geomagnetic coordinates, satellite altitude angle, azimuth angle information and the deviation value of the target coefficient value and the pseudo-range code deviation at the receiver end.

In a possible embodiment, the determining module 440 is specifically used to:

Perform real-time single point positioning based on the pseudorange observation value and the broadcast ephemeris information, and calculate the position information of the receiver;

According to the position information of the receiver, the geomagnetic coordinates, satellite altitude angle and azimuth angle information of the ionospheric penetration point are calculated.

In a possible embodiment, the establishment module 420 is specifically used to:

Establish a first matrix according to the target coefficient and the receiver-side pseudorange code deviation;

Establish a second matrix according to the carrier phase observation value and the pre-established projection function;

Determine a phase smoothing pseudorange matrix according to the pseudorange observation value and the carrier phase observation value;

Establish a weight matrix according to the carrier phase observation value;

The target equation is established based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix.

In a possible embodiment, the establishment module 420 is specifically used to:

Before establishing the phase observation value and the pre-established projection function and establishing the second matrix, the method further includes:

Obtain the radius of the earth, the effective height of the ionosphere, the orbital height and zenith angle of low-orbit satellites;

The projection function is established based on the earth radius, the ionospheric effective height, the orbital altitude of the low-orbit satellite, and the zenith angle.

In a possible embodiment, the establishment module 420 is specifically used to:

According to the pseudorange observation value and the carrier phase observation value, calculate the observation quantity without geometric combination;

The phase smoothing pseudorange matrix is determined based on the geometrically combined observations.

In a possible embodiment, the establishment module 420 is specifically used to:

The first matrix is established according to the first coefficient, the second coefficient, the third coefficient and the receiver-side pseudorange code deviation; wherein the functional relationship between geomagnetic coordinates and the VTEC includes the a first coefficient, said second coefficient and said third coefficient.

In a possible embodiment, the establishment module 420 is specifically used to:

Obtain the altitude angle between the LEO satellite and the navigation satellite, the signal strength and smoothing length of the signal sent by the navigation satellite to the LEO satellite from the carrier observation information;

The weight matrix is established based on the altitude angle, the signal strength and the smoothing length.

In a possible embodiment, the establishment module 420 is specifically used to:

According to the altitude angle, determine the altitude angle weight value;

According to the signal strength, determine the signal strength weight value;

Calculate the smoothing length weight value according to the smoothing length;

Wherein, the weight matrix includes: the altitude angle weight value, the signal strength weight value and the smoothing length weight value.

In a possible embodiment, the establishment module 420 is specifically used to:

When the altitude angle is less than the first threshold, determine the altitude angle weight value as the first weight value; or,

If the altitude angle is not less than the first threshold, determine a second weight value based on the altitude angle;

Determine the altitude angle weight value as the second weight value;

Wherein, the first weight value is greater than the second weight value.

In a possible embodiment, the establishment module 420 is specifically used to:

Obtain the phase tracking loop bandwidth and carrier phase wavelength of the signal;

The signal strength weight value is determined based on the signal strength, the phase tracking loop bandwidth and the carrier phase wavelength.

In a possible embodiment, the establishment module 420 is specifically used to:

If the smoothing length is less than the second threshold, determine a third weight value based on the second threshold and the smoothing length;

Determine the smooth length weight value as the third weight value; or,

If the smoothing length is not less than the second threshold, determine the altitude angle weight value as a fourth weight value;

Wherein, the third weight value is smaller than the fourth weight value.

In a possible embodiment, the solution module 430 is specifically used to:

Based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix, solve the first coefficient value of the first coefficient, the second coefficient value of the second coefficient, and the The third coefficient value of the third coefficient and the deviation value of the pseudorange code deviation at the receiver end.

In a possible embodiment, the determining module 440 is specifically used to:

The VTEC is determined based on the pseudorange observation value, the first coefficient value, the second coefficient value, the third coefficient value and the receiver end pseudorange code deviation.

In a possible embodiment, the device 400 may include:

Estimation module, specifically used for:

Obtain the historical temperature value of the receiver and the historical deviation value of the receiver-side pseudorange code deviation corresponding to the historical temperature value;

According to the historical temperature value and the historical deviation value, establish a polynomial function between the receiver-end pseudorange code deviation and the temperature information of the receiver, where the polynomial function includes multiple parameters;

According to the polynomial function and the obtained temperature value of the receiver, the deviation value of the pseudorange code deviation at the receiver end is estimated.

In a possible embodiment, the device 400 may include:

An adjustment module, configured to adjust parameters in the polynomial function so that the receiver-side pseudorange code deviation is within a preset range.

To sum up, in the embodiment of this application, the pseudorange observation value and the carrier phase observation value are obtained; wherein the pseudorange observation value and the carrier phase observation value are received by the Global Navigation Satellite System GNSS receiver mounted on the low-orbiting Earth LEO satellite. Obtained; here, the LEO operating in orbit can fly around the world. Correspondingly, the GNSS receiver mounted on the LEO operating in orbit also moves globally, so the ionospheric monitoring over the ocean area can be realized and the monitoring range can be improved; according to the pseudo Establish a target equation from the observed value and carrier phase observation value. The target equation includes the target coefficient and the receiver-side pseudorange code deviation; then, solve the target coefficient value of the target coefficient in the target equation and the deviation of the receiver-side pseudorange code deviation. value, here, the deviation value of the target coefficient value and the receiver-side pseudorange code deviation can be quickly and accurately determined; finally, based on the deviation value of the pseudorange observation value, the target coefficient value, and the receiver-side pseudorange code deviation, the ionization The vertical total electron content VTEC of the layer can be calculated in real time at the LEO end with high precision.

FIG. 5 shows a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application.

The electronic device may include a processor 501 and a memory 502 storing computer program instructions.

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

Memory 502 may include bulk storage for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or two or more A combination of many of the above. Memory 502 may include removable or non-removable (or fixed) media, where appropriate. Where appropriate, the memory 502 may be internal or external to the integrated gateway disaster recovery device. In certain embodiments, memory 502 is non-volatile solid-state memory. In certain embodiments, memory 502 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically rewritable ROM (EAROM) or flash memory or A combination of two or more of these.

The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any method for determining the total electron content in the embodiment shown in the figure.

In one example, the electronic device may also include communication interface 503 and bus 510 . Among them, as shown in Figure 5, the processor 501, the memory 502, and the communication interface 503 are connected through the bus 510 and complete communication with each other.

The communication interface 503 is mainly used to implement communication between modules, devices, units and/or equipment in the embodiments of this application.

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

The electronic device can execute the total electron content determination method in the embodiment of the present application, thereby realizing the total electron content determination method described in conjunction with FIGS. 1 to 3 .

In addition, combined with the method for determining the total electron content in the above embodiments, embodiments of the present application may provide a computer-readable storage medium for implementation. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by the processor, the total electron content determination method in Figures 1 to 3 is implemented.

To be clear, this application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications and additions, or change the order between steps after understanding the spirit of the present application.

The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, or the like. When implemented in software, elements of the application are programs or code segments that are used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted over a transmission medium or communications link via a data signal carried in a carrier wave. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and so on. Code segments may be downloaded via computer networks such as the Internet, intranets, and the like.

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

The above are only specific implementation modes of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems, modules and units can be referred to the foregoing method embodiments. The corresponding process will not be described again here. It should be understood that the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should be covered. within the protection scope of this application.

Claims (20)

1. A method for determining total electron content, characterized in that the method includes: Obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by a Global Navigation Satellite System GNSS receiver mounted on a low-orbit earth LEO satellite; Establish a target equation based on the pseudorange observation value and the carrier phase observation value, and the target equation includes the target coefficient and the receiver end pseudorange code deviation; Solve the target coefficient value of the target coefficient in the target equation and the deviation value of the receiver-side pseudorange code deviation; The vertical total electron content VTEC of the ionosphere is determined based on the pseudorange observation value, the target coefficient value and the deviation value of the pseudorange code deviation at the receiver end. 2. The method according to claim 1, characterized in that the vertical total of the ionosphere is determined based on the deviation value of the pseudorange observation value, the target coefficient value and the receiver end pseudorange code deviation. Electronic content VTEC, including: Determine geomagnetic coordinates, satellite altitude angle and azimuth angle information based on the pseudorange observation values and the obtained broadcast ephemeris information; The VTEC is determined based on the geomagnetic coordinates, the satellite altitude angle, the azimuth angle information, the target coefficient value and the deviation value of the receiver-side pseudorange code deviation. 3. The method according to claim 2, wherein determining geomagnetic coordinates, satellite altitude angle and azimuth angle information based on the pseudorange observation value and the acquired broadcast ephemeris information includes: Perform real-time single point positioning based on the pseudorange observation value and the broadcast ephemeris information, and calculate the position information of the receiver; According to the position information of the receiver, the geomagnetic coordinates, the satellite altitude angle and the azimuth angle information of the ionospheric penetration point are calculated. 4. The method according to claim 1, characterized in that establishing a target equation according to the pseudorange observation value and the carrier phase observation value includes: Establish a first matrix according to the target coefficient and the receiver-side pseudorange code deviation; Establish a second matrix according to the carrier phase observation value and the pre-established projection function; Determine a phase smoothing pseudorange matrix according to the pseudorange observation value and the carrier phase observation value; Establish a weight matrix according to the carrier phase observation value; The target equation is established based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix. 5. The method according to claim 4, characterized in that, before establishing the second matrix according to the carrier phase observation value and the pre-established projection function, the method further includes: Obtain the radius of the earth, the effective height of the ionosphere, the orbital height and zenith angle of low-orbit satellites; The projection function is established based on the earth radius, the ionospheric effective height, the orbital altitude of the low-orbit satellite, and the zenith angle. 6. The method of claim 4, wherein determining a phase smoothing pseudorange matrix based on the pseudorange observation value and the carrier phase observation value includes: According to the pseudorange observation value and the carrier phase observation value, calculate the observation quantity without geometric combination; The phase smoothing pseudorange matrix is determined based on the geometrically combined observations. 7. The method according to claim 4, characterized in that the target coefficient includes a first coefficient, a second coefficient and a third coefficient, and the establishment of the target coefficient according to the target coefficient and the receiver-end pseudorange code deviation The first matrix includes: The first matrix is established according to the first coefficient, the second coefficient, the third coefficient and the receiver-side pseudorange code deviation; wherein the functional relationship between geomagnetic coordinates and the VTEC includes the a first coefficient, said second coefficient and said third coefficient. 8. The method according to claim 4, wherein establishing a weight matrix according to the carrier phase observation value includes: Obtain the altitude angle between the LEO satellite and the navigation satellite, the signal strength and smoothing length of the signal sent by the navigation satellite to the LEO satellite from the carrier observation information; The weight matrix is established based on the altitude angle, the signal strength and the smoothing length. 9. The method of claim 8, wherein establishing the weight matrix according to the altitude angle, the signal strength and the smoothing length includes: According to the altitude angle, determine the altitude angle weight value; According to the signal strength, determine the signal strength weight value; Calculate the smoothing length weight value according to the smoothing length; Wherein, the weight matrix includes: the altitude angle weight value, the signal strength weight value and the smoothing length weight value. 10. The method of claim 9, wherein determining the altitude angle weight value according to the altitude angle includes: When the altitude angle is less than the first threshold, determine the altitude angle weight value as the first weight value; or, If the altitude angle is not less than the first threshold, determine a second weight value based on the altitude angle; Determine the altitude angle weight value as the second weight value; Wherein, the first weight value is greater than the second weight value. 11. The method according to claim 9, wherein determining the signal strength weight value according to the signal strength includes: Obtain the phase tracking loop bandwidth and carrier phase wavelength of the signal; The signal strength weight value is determined based on the signal strength, the phase tracking loop bandwidth and the carrier phase wavelength. 12. The method of claim 9, wherein calculating the smoothing length weight value according to the smoothing length includes: If the smoothing length is less than the second threshold, determine a third weight value based on the second threshold and the smoothing length; Determine the smooth length weight value as the third weight value; or, If the smoothing length is not less than the second threshold, determine the altitude angle weight value as a fourth weight value; Wherein, the third weight value is smaller than the fourth weight value. 13. The method according to claim 7, wherein the target coefficient includes a first coefficient, a second coefficient and a third coefficient, and the target coefficient value of the target coefficient in solving the target equation and Receiver-side pseudorange code deviations include: Based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix, solve the first coefficient value of the first coefficient, the second coefficient value of the second coefficient, and the The third coefficient value of the third coefficient and the deviation value of the pseudorange code deviation at the receiver end. 14. The method according to claim 13, wherein the vertical total of the ionosphere is determined based on the pseudorange observation value, the target coefficient value and the deviation value of the receiver end pseudorange code deviation. Electronic content VTEC, including: The VTEC is determined based on the pseudorange observation value, the first coefficient value, the second coefficient value, the third coefficient value and the receiver end pseudorange code deviation. 15. The method of claim 1, further comprising: Obtain the historical temperature value of the receiver and the historical deviation value of the receiver-side pseudorange code deviation corresponding to the historical temperature value; According to the historical temperature value and the historical deviation value, establish a polynomial function between the receiver-end pseudorange code deviation and the temperature information of the receiver, where the polynomial function includes multiple parameters; According to the polynomial function and the obtained temperature value of the receiver, the deviation value of the pseudorange code deviation at the receiver end is estimated. 16. The method of claim 15, wherein a polynomial function between the receiver-side pseudorange code deviation and the temperature information of the receiver is established based on the historical temperature value and the historical deviation value. Afterwards, the method further includes: Adjust the parameters in the polynomial function so that the receiver-side pseudorange code deviation is within a preset range. 17. A device for determining total electron content, characterized in that the device includes: The acquisition module is used to obtain the pseudorange observation value and the carrier phase observation value; wherein the pseudorange observation value and the carrier phase observation value are received by the GNSS receiver mounted on the LEO satellite; A establishing module, configured to establish a target equation based on the pseudorange observation value and the carrier phase observation value, where the target equation includes a target coefficient and a receiver-side pseudorange code deviation; A solving module, used to solve the target coefficient value of the target coefficient in the target equation and the deviation value of the pseudorange code deviation at the receiver end; A determination module configured to determine the VTEC of the ionosphere based on the pseudorange observation value, the target coefficient value, and the deviation value of the pseudorange code deviation at the receiver end. 18. The device according to claim 17, characterized in that the establishment module is specifically used for: Establish a first matrix according to the target coefficient and the receiver-side pseudorange code deviation; Establish a second matrix according to the carrier phase observation value and the pre-established projection function; Determine a phase smoothing pseudorange matrix according to the pseudorange observation value and the carrier phase observation value; Establish a weight matrix according to the carrier phase observation value; The target equation is established based on the weight matrix, the phase smoothing pseudorange matrix, the first matrix and the second matrix. 19. An electronic device, characterized in that the device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the implementation of any one of claims 1-16 is achieved method for determining the total electron content. 20. A readable storage medium, characterized in that computer program instructions are stored on the readable storage medium, and when the computer program instructions are executed by a processor, the overall method of any one of claims 1-16 is implemented. Method for determining electron content.