CN117826190A - Method, device, computer storage medium and terminal for realizing interrupt processing - Google Patents
Method, device, computer storage medium and terminal for realizing interrupt processing Download PDFInfo
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Abstract
The application discloses a method, a device, a computer storage medium and a terminal for realizing interrupt processing, comprising the following steps: when judging that the master station is interrupted, determining the interruption time length of the master station; and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data. In the embodiment of the disclosure, the virtual base station data at the grid point is generated by extrapolating the main station data within the interruption time threshold after the main station is interrupted, so that stable output of the virtual base station data is ensured. Further, when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold, virtual base station data at the grid point is generated according to the reselected master station, so that the quality of the virtual base station data is ensured.
Description
Technical Field
The present application relates to, but is not limited to, satellite positioning technology, and relates to a method, an apparatus, a computer storage medium and a terminal for implementing interrupt processing.
Background
Currently, there are the Global Positioning System (GPS) in the united states, the GLONASS in russia, the beidou satellite navigation system (BDS) in china, the Galileo satellite navigation system (Galileo) in the european union, the Quasi Zenith Satellite System (QZSS) in japan, the Indian Regional Navigation Satellite System (IRNSS) in india, and two regional satellite navigation positioning systems, which provide high-precision navigation positioning services for users in all weather for five systems. Has been widely used in the fields of navigation, survey and mapping, fine agriculture, intelligent robots, unmanned aerial vehicles and the like.
High-precision location services are an important area of application for global satellite navigation and positioning systems (GNSS, global Navigation Satellite System). In order to meet the requirements of future intelligent driving on lane-level navigation position service, the intelligent mowing robot needs centimeter-level positioning service and intelligent mine settlement monitoring needs millimeter-level positioning service, the application advantages of the GNSS satellite navigation positioning system, such as all weather, high availability and low cost, are fully exploited, and two technical solutions of precise single point positioning (PPP) -real-time dynamic positioning (RTK) technology based on satellite-based enhancement and network RTK technology based on foundation enhancement are formed; the PPP-RTK technology accurately estimates related errors such as satellite orbit, clock error, troposphere, ionosphere, carrier hardware delay, pseudo-range hardware delay and the like in real time through globally distributed monitoring stations, and broadcasts the corrections to users through a network or a satellite, so that precise single-point real-time dynamic positioning can be realized, but the technology is still in a development and early application stage at present; the network RTK technology is based on carrier real-time dynamic difference (RTK, real time kinematic), and can eliminate or weaken satellite orbit errors, satellite clock error, station clock error, troposphere and ionosphere errors and the like through double differences between stations and satellites by utilizing the error correlation between stations; the most widely applied high-precision satellite positioning technology is adopted, and more than 90% of centimeter-level satellite positioning applications adopt RTK services.
With the increasing demand of social development for high-precision location services, foundation enhancement systems gradually tend to be perfect, and a nationwide continuous operation (satellite positioning service) reference station (CORS, continuously Operating Reference Stations) network is formed; with the addition of a network across the country, network RTK technology is increasingly being used. The network RTK technology in the related technology generates a virtual reference station for each user and transmits the virtual reference station to the user for use in a network broadcasting mode, so that the high concurrency requirement cannot be met; in order to meet the high concurrency demand, gradually developing a grid virtual reference station technology, dividing a service range into uniform grid points, and providing the user with virtual base station data at the nearest grid point; currently, there are several companies in China that provide virtual reference station data that is gridded nationwide.
The network RTK service is to transmit nationally distributed CORS stations to a data center through a network, then perform baseline calculation and extract the atmosphere, and then perform atmosphere modeling. When virtual grid base station data are generated, one CORS station is needed to be selected as a master station, the atmospheric delay error and the geometric distance deviation of the grid point relative to the master station are calculated according to the atmosphere, and the deviation is corrected to the master station to obtain the virtual base station data; defining mark of A mark master station, V mark virtual lattice point and upper mark s markThe common view satellite of A and V is identified, the superscript r represents a reference satellite of the common view satellite and is used for making single difference between satellites, and lambda represents wavelength; the A and the V are used as the single difference between stations,single-difference pseudorange observations representing satellites s, < +.>Single-difference carrier observations representing satellite s, < +.>Representing the geometrical distance single difference of satellite to receiver, < >>Represents tropospheric error single difference, +.>Representing ionospheric error single difference, cΔdt AV Representing receiver clock error single difference, +.>Representing the integer ambiguity single difference, +.>Representing pseudo-range observation noise single difference,/->The data generation method of the virtual base station of the grid point, which represents the single difference of carrier observation noise, is shown in formulas (1) - (6):
moving the master station a observations in equations (1) and (2) to the right of the equation yields:
wherein delta represents a double difference operator, namely the single difference between stations of the satellite S minus the single difference error between stations of the reference satellite r;and->Is constant and can be eliminated in RTK positioning, which is considered to be equal to 0; the coordinates of the virtual lattice point and the master station A are precisely known, and the ambiguity, the multipath error, the station measurement clock error and the observation noise are considered to be consistent with those of the master station, and the virtual lattice point and the master station A are +.>And->According to the regional atmosphere modeling result, the pseudo range and the carrier observed value of the lattice point virtual base station can be calculated:
when virtual base station data at a grid point is transmitted to a data center, the network RTK service is interrupted due to network delay or short-time station measurement interruption, and how to ensure that the network RTK service stably and continuously outputs the virtual base station data is always a key problem of continuous attention of a large number of users; in order to avoid the interruption of the output virtual base station data, 3 to 6 CORS stations are usually selected as alternative master stations, and the current master station data is automatically switched to other alternative master stations when interruption occurs; to avoid the impact of frequent master station switching, it is common that the master station is not started until the current master station data is interrupted for a period of time (say 10 seconds), which can cause a service interruption for a period of time.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the disclosure provides a method, a device, a computer storage medium and a terminal for realizing interrupt processing.
The embodiment of the disclosure provides a method for realizing interrupt processing, which is applied to carrier real-time dynamic differential RTK service and comprises the following steps:
when judging that the master station is interrupted, determining the interruption time length of the master station;
and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data.
In an exemplary embodiment, after the determining the duration of the primary station interrupt, the method further includes:
and when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold value, reselecting the master station, and generating virtual base station data at the grid point according to the reselected master station.
In one illustrative example, the extrapolated master station data includes:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the satellite s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
In one illustrative example, the master station observations of the j-th epoch are determined by:
the single difference observations of satellite s between epochs i, j are determined as follows:
setting integer ambiguity, receiver clock error, observing that the j-th epoch of noise is consistent with the i-th epoch, and calculating by using broadcast ephemeris to obtain geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging the n epochs to obtain a final troposphere change rate and ionosphere change rate:
according to the time difference between the ith epoch and the jth epoch, obtaining the difference value of the troposphere and the ionosphere of the j epoch corresponding to the i epoch:
substituting the obtained difference value between the troposphere and the ionosphere of the j epoch corresponding to the i epoch into the obtained observation value of the j epoch, and extrapolating the master station observation value of the j epoch according to the master station observation value of the i epoch.
In another aspect, an embodiment of the present disclosure further provides a computer storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the method for implementing interrupt processing described above.
In still another aspect, an embodiment of the present disclosure further provides a terminal, including: a memory and a processor, the memory storing a computer program; wherein,
the processor is configured to execute the computer program in the memory;
the computer program, when executed by the processor, implements a method of implementing interrupt handling as described above.
In still another aspect, an embodiment of the present disclosure further provides an apparatus for implementing interrupt processing, which is applied to a carrier real-time dynamic differential RTK service, including a determining unit and a first processing unit; wherein,
the determination unit is configured to: when judging that the master station is interrupted, determining the interruption time length of the master station;
the first processing unit is arranged to: and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data.
In an exemplary example, the apparatus further comprises a second processing unit configured to:
and when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold value, reselecting the master station, and generating virtual base station data at the grid point according to the reselected master station.
In an exemplary embodiment, the first processing unit is configured to extrapolate master station data, comprising:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the satellite s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
In an illustrative example, the first processing unit is a master station observation arranged to determine a j-th epoch by:
the single difference observations of satellite s between epochs i, j are determined as follows:
setting integer ambiguity, receiver clock error, observing that the j-th epoch of noise is consistent with the i-th epoch, and calculating by using broadcast ephemeris to obtain geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging the n epochs to obtain a final troposphere change rate and ionosphere change rate:
according to the time difference between the ith epoch and the jth epoch, obtaining the difference value of the troposphere and the ionosphere of the j epoch corresponding to the i epoch:
substituting the obtained difference value between the troposphere and the ionosphere of the j epoch corresponding to the i epoch into the obtained observation value of the j epoch, and extrapolating the master station observation value of the j epoch according to the master station observation value of the i epoch.
Compared with the related art, in the embodiment of the disclosure, the virtual base station data at the grid point is generated by extrapolating the master station data within the interruption duration threshold after the master station is interrupted, so that stable output of the virtual base station data is ensured. Further, when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold, virtual base station data at the grid point is generated according to the reselected master station, so that the quality of the virtual base station data is ensured.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Other advantages of the present application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide an understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.
FIG. 1 is a flow chart of a method of implementing interrupt processing according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of an apparatus for implementing interrupt handling in accordance with an embodiment of the present disclosure;
fig. 3 is a flow chart of a method of an example application of the present disclosure.
Detailed Description
The present application describes a number of embodiments, but the description is illustrative and not limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or in place of any other feature or element of any other embodiment unless specifically limited.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements of the present disclosure may also be combined with any conventional features or elements to form a unique inventive arrangement as defined in the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined in the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be restricted except in light of the attached claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.
Furthermore, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
Fig. 1 is a flowchart of a method for implementing interrupt processing according to an embodiment of the present disclosure, which is applied to a carrier real-time kinematic (RTK) service, as shown in fig. 1, and includes:
step 101, determining the interruption time length of a master station when judging that the master station is interrupted;
and 102, when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating (a mathematical method for identifying the value outside the function from the existing value of the function) master station data, and generating virtual base station data at grid points according to the extrapolated master station data.
In the embodiment of the disclosure, the virtual base station data at the grid point is generated by extrapolating the main station data within the interruption time threshold after the main station is interrupted, so that stable output of the virtual base station data is ensured.
In one illustrative example, a method of implementing interrupt processing according to an embodiment of the present disclosure may include: interrupt processing of master station data in NRTK service is realized.
In an exemplary embodiment, after determining the duration of the primary station interrupt, the method of the embodiment of the present disclosure further includes:
and when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold value, reselecting the master station, and generating virtual base station data at the grid point according to the reselected master station.
In an exemplary embodiment, the embodiment of the disclosure may refer to the related art, and determine that the master station is interrupted when the observed value of the current epoch is not obtained.
When the time length of the interruption of the master station is greater than or equal to the preset interruption time length threshold value, generating virtual base station data at the grid point according to the reselected master station, and guaranteeing the quality of the virtual base station data.
In an exemplary embodiment, the extrapolated master station data and the reselected virtual base station data at the master station generation grid point can be calculated based on the following formulas, in the embodiment of the disclosure, a marks the master station, V marks the virtual grid point, a superscript s marks a and V's co-viewing satellite, a superscript r represents a reference star of the co-viewing satellite, and is used for making inter-satellite single difference, and λ represents wavelength; a and V are used as single difference between stations,single-difference pseudorange observations representing satellites s, < +.>Single-difference carrier observations representing satellite s, < +.>Representing the geometrical distance single difference of satellite to receiver, < >>Represents tropospheric error single difference, +.>Representing ionospheric error single difference, cΔdt AV Representing receiver clock error single difference, +.>Representing the integer ambiguity single difference, +.>Representing pseudo-range observation noise single difference,/->The data generation method of the virtual base station of the grid point, which represents the single difference of carrier observation noise, is shown in formulas (1) - (6):
moving the master station a observations in equations (1) and (2) to the right of the equation yields:
wherein delta represents a double difference operator, namely the single difference between stations of the satellite S minus the single difference error between stations of the reference satellite r;and->Is constant and can be eliminated in RTK positioning, which is considered to be equal to 0; the coordinates of the virtual lattice point and the master station A are precisely known, and the ambiguity, the multipath error, the station measurement clock error and the observation noise are considered to be consistent with those of the master station, and the virtual lattice point and the master station A are +.>And->According to the regional atmosphere modeling result, the pseudo range and the carrier observed value of the lattice point virtual base station can be calculated:
in one illustrative example, embodiments of the present disclosure push away master station data, comprising:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the common view s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
In one illustrative example, embodiments of the present disclosure determine a master station observation for a j-th epoch, comprising:
the single difference observations of satellite s between epochs i, j are determined as follows:
in the method, in the process of the invention,single difference observations between pseudorange epochs representing satellite s,/->Single difference observation between carrier epochs representing satellite s,/->Representing the geometrical distance single difference between the satellites to the receiver, < >>Represents a single difference between tropospheric error epochs, < >>Representing single differences between ionospheric error epochs, cΔdt ij Representing the single difference between the receiver clock difference epochs, < >>Representing single difference between integer ambiguity epochs, < >>Representing single difference between pseudo-range observation noise epochs, < >>Representing the single difference between the carrier observation noise epochs.
Moving the observation value of the ith epoch in the formulas (7) and (8) to the right side of the equation, setting integer ambiguity, receiver clock error and observation noise to be consistent with the ith epoch in the jth epoch, and calculating by the broadcast ephemeris to obtain the geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observation representing the jth epochValue of->Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging through n epochs to obtain a final troposphere change rate and an ionosphere change rate:
from the time difference between the i epoch and the j epoch, the difference between the troposphere and ionosphere of the j epoch corresponding to the i epoch can be obtained:
substituting the equations (15) and (16) into the equations (9) and (10) makes it possible to extrapolate the master station observations of the j-th epoch from the master station observations of the i-th epoch.
FIG. 2 is a block diagram of an apparatus for implementing interrupt processing according to an embodiment of the present disclosure, which is applied to an RTK service, and includes a determining unit and a first processing unit as shown in FIG. 2; wherein,
the determination unit is configured to: when judging that the master station is interrupted, determining the interruption time length of the master station;
the first processing unit is arranged to: and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data.
Compared with the related art, in the embodiment of the disclosure, the virtual base station data at the grid point is generated by extrapolating the master station data within the interruption duration threshold after the master station is interrupted, so that stable output of the virtual base station data is ensured.
In an exemplary embodiment, the apparatus of the present disclosure further includes a second processing unit configured to:
and when the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold value, reselecting the master station, and generating virtual base station data at the grid point according to the reselected master station.
When the time length of the interruption of the master station is greater than or equal to the preset interruption time length threshold value, generating virtual base station data at the grid point according to the reselected master station, and guaranteeing the quality of the virtual base station data.
In an exemplary embodiment, the first processing unit of the disclosed embodiment is configured to extrapolate master station data, including:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the satellite s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
In an illustrative example, the first processing unit of the disclosed embodiments is a master station observation configured to determine a j-th epoch by:
the single difference observations of satellite s between epochs i, j are determined as follows:
in the method, in the process of the invention,single difference observations between pseudorange epochs representing satellite s,/->Single difference observation between carrier epochs representing satellite s,/->Representing the geometrical distance single difference between the satellites to the receiver, < >>Represents a single difference between tropospheric error epochs, < >>Representing single differences between ionospheric error epochs, cΔdt ij Representing the single difference between the receiver clock difference epochs, < >>Representing single difference between integer ambiguity epochs, < >>Representing single difference between pseudo-range observation noise epochs, < >>Representing carrier wavesObserving single differences among noise epochs;
setting integer ambiguity, receiver clock error, observing that the j-th epoch of noise is consistent with the i-th epoch, and calculating by using broadcast ephemeris to obtain geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging the n epochs to obtain a final troposphere change rate and ionosphere change rate:
according to the time difference between the ith epoch and the jth epoch, obtaining the difference value of the troposphere and the ionosphere of the j epoch corresponding to the i epoch:
substituting the obtained difference value between the troposphere and the ionosphere of the j epoch corresponding to the i epoch into the obtained observation value of the j epoch, and extrapolating the master station observation value of the j epoch according to the master station observation value of the i epoch.
The embodiment of the disclosure also provides a computer storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for implementing interrupt processing is implemented.
The embodiment of the disclosure also provides a terminal, which comprises: a memory and a processor, the memory storing a computer program;
wherein,
the processor is configured to execute the computer program in the memory;
the computer program, when executed by a processor, implements a method for implementing interrupt handling as described above.
The following briefly describes embodiments of the present disclosure by way of application examples, which are merely set forth embodiments of the present disclosure and are not intended to limit the scope of the embodiments of the present disclosure.
Application example
Fig. 3 is a flowchart of a method of an example application of the present disclosure, as shown in fig. 3, including:
step 301, a data center receives reference station data of nationally distributed reference stations (CORS) in real time;
step 302, the data center preprocesses the reference station data received in real time, and performs double-difference baseline calculation and atmospheric extraction according to the preprocessed reference station data;
step 303, forming a predetermined number of CORSs into a region (the predetermined number of CORSs may be formed into a region by referring to the related art, for example, forming 12 CORSs into a region), and performing region modeling using the extracted atmosphere;
step 304, selecting one of the reference stations in the small area as a master station according to the quality of the observed data of the CORS station; the CORS closest to the grid point can be selected as a master station by referring to the related technology;
step 305, judging whether the master station is interrupted;
executing step 3060 when the master station is not interrupted; when the master station interrupts, step 3070 is executed;
step 3060, directly generating virtual base station data at grid points according to the formulas (1) - (6) according to the related technology; in an exemplary embodiment, the embodiment of the disclosure may refer to the related art, and determine that the master station interrupts when the observed value of the current epoch is not obtained;
step 3070, when the determined duration of the interruption of the master station is smaller than the interruption duration threshold, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data;
generating virtual base station data, wherein a master station and atmospheric correction are needed, but when the master station is interrupted, the master station data for generating the virtual base station data is obtained by calculation according to a follow-up formula;
single difference observations of co-vision satellites s between epochs i, j are as follows:
moving the observation value of the ith epoch in the formulas (7) and (8) to the right side of the equation, setting integer ambiguity, receiver clock difference, and the j epoch of observation noise consistent with the ith epoch, wherein the geometric distance and the satellite clock difference are calculated by the broadcast ephemeris; the error difference between the ionosphere and the troposphere is calculated by modeling and forecasting, so that the observed value of the j epoch can be obtained:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the method for calculating the error change rate of the troposphere and the ionosphere is as follows:
/>
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change; averaging through n epochs to obtain a final troposphere change rate and an ionosphere change rate:
from the time difference between the i epoch and the j epoch, the difference between the troposphere and ionosphere of the j epoch corresponding to the i epoch can be obtained:
substituting the equations (15) and (16) into the equations (9) and (10) makes it possible to extrapolate the master station observations of the j-th epoch from the master station observations of the i-th epoch.
3071, the determined interruption time length of the master station is greater than or equal to a preset interruption time length threshold, reselecting other CORS as the master station, and generating virtual base station data at grid points according to the reselected master station; the embodiment of the disclosure generates virtual base station data at grid points according to the formulas (1) - (6);
in an exemplary embodiment, the embodiment of the disclosure may determine, in advance, an alternative master station from the CORS of the area, but directly select one of the alternative master stations as a new master station when the time length of the master station interruption is greater than or equal to the interruption time length threshold; after the primary station is reselected, generating virtual base station data at the mesh point according to the above formulas (1) - (6);
in one illustrative example, the interrupt duration threshold may be analytically set by one skilled in the art, e.g., the interrupt duration threshold may be set equal to 10 seconds.
The virtual base station data at the grid point can still be stably output when short-time interruption occurs, and can be used for short-term prediction of atmospheric delay. In an area, selecting a plurality of CORS as alternative master stations, and when one master station is abnormal, switching to other alternative master stations in time to continue to provide high-quality virtual base station data service; after the interruption of the master station occurs, in the period of time before the master station is switched, virtual master station data is obtained by a method of extrapolating the master station data, and then virtual base station data service is continuously provided for users; and modeling the differential data between the ionosphere and troposphere epochs, and then carrying out short-time forecasting to improve the extrapolation accuracy of the data of the main station.
It should be noted that, in the embodiment of the present disclosure, the atmospheric change rate information is calculated by using a multi-epoch averaging manner and is used for extrapolating atmospheric information, and other atmospheric forecasting methods in the related art are used for extrapolating the master station data, and may also be applied to the embodiment of the present disclosure, which is not limited thereto.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
Claims (10)
1. A method for implementing interrupt processing, applied to carrier real-time dynamic differential RTK service, comprising:
when judging that the master station is interrupted, determining the interruption time length of the master station;
and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data.
2. The method of claim 1, wherein after the determining the duration of the primary station interrupt, the method further comprises:
and when the determined interruption time length of the master station is greater than or equal to the interruption time length threshold value, reselecting the master station, and generating the virtual base station data of the grid point according to the reselected master station.
3. The method according to claim 1 or 2, wherein said extrapolating master station data comprises:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the satellite s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
4. A method according to claim 3, wherein the master station observations of the j-th epoch are determined by:
the single difference observations of the satellites s in epoch i, j are determined as follows:
in the method, in the process of the invention,single difference observations between pseudorange epochs representing satellite s,/->Single difference observation between carrier epochs representing satellite s,/->Representing the geometrical distance single difference between the satellites to the receiver, < >>Representing the single difference between tropospheric error epochs,representing ionospheric error epoch-to-epochSingle difference, cΔdt ij Representing the single difference between the receiver clock difference epochs, < >>Representing single difference between integer ambiguity epochs, < >>Representing single difference between pseudo-range observation noise epochs, < >>Representing single differences among carrier observation noise epochs;
setting integer ambiguity, receiver clock error, observing that the j-th epoch of noise is consistent with the i-th epoch, and calculating by using broadcast ephemeris to obtain geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging the n epochs to obtain a final troposphere change rate and ionosphere change rate:
according to the time difference between the ith epoch and the jth epoch, obtaining the difference value of the troposphere and the ionosphere of the j epoch corresponding to the i epoch:
substituting the obtained difference value between the troposphere and the ionosphere of the j epoch corresponding to the i epoch into the obtained observation value of the j epoch, and extrapolating the master station observation value of the j epoch according to the master station observation value of the i epoch.
5. A computer storage medium having stored therein a computer program which, when executed by a processor, implements the method of implementing interrupt handling according to any of claims 1 to 4.
6. A terminal, comprising: a memory and a processor, the memory storing a computer program; wherein,
the processor is configured to execute the computer program in the memory;
the computer program, when executed by the processor, implements a method of implementing interrupt handling as claimed in any one of claims 1 to 4.
7. The device for realizing interrupt processing is applied to carrier real-time dynamic differential RTK service and is characterized by comprising a determining unit and a first processing unit; wherein,
the determination unit is configured to: when judging that the master station is interrupted, determining the interruption time length of the master station;
the first processing unit is arranged to: and when the determined interruption time length of the master station is smaller than a preset interruption time length threshold value, extrapolating the master station data, and generating virtual base station data at the grid point according to the extrapolated master station data.
8. The apparatus according to claim 7, further comprising a second processing unit arranged to:
and when the determined interruption time length of the master station is greater than or equal to the interruption time length threshold value, reselecting the master station, and generating virtual base station data at the grid point according to the reselected master station.
9. The apparatus according to claim 7 or 8, wherein the first processing unit is arranged to extrapolate master station data, comprising:
and determining the observation value of the master station of the jth epoch according to the geometrical distance of the satellite s between the epochs i and j, the satellite clock difference, the station clock difference, the error difference between the ionosphere and the troposphere, the error change rate of the troposphere and the ionosphere and the time difference between the ith epoch and the jth epoch.
10. The method of claim 9, wherein the first processing unit is configured to determine the master station observations of the j-th epoch by:
the single difference observations of satellite s between epochs i, j are determined as follows:
setting integer ambiguity, receiver clock error, observing that the j-th epoch of noise is consistent with the i-th epoch, and calculating by using broadcast ephemeris to obtain geometric distance and satellite clock error; calculating error difference of the ionosphere and the troposphere in a modeling and forecasting mode to obtain an observed value of a j epoch:
wherein P is j Pseudo-range observations representing the jth epoch, P i A pseudorange observation representing an i-th epoch,carrier observations representing the j-th epoch, < >>Representing a carrier observation of an i-th epoch;
the troposphere and ionosphere error rates were calculated as follows:
where dt represents the time difference between two adjacent epochs, f 1 And f 2 Represents the frequency dT j s Indicating the rate of change of the troposphere,representing ionospheric rate of change;
averaging the n epochs to obtain a final troposphere change rate and ionosphere change rate:
according to the time difference between the ith epoch and the jth epoch, obtaining the difference value of the troposphere and the ionosphere of the j epoch corresponding to the i epoch:
substituting the obtained difference value between the troposphere and the ionosphere of the j epoch corresponding to the i epoch into the obtained observation value of the j epoch, and extrapolating the master station observation value of the j epoch according to the master station observation value of the i epoch.
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