WO2023130553A1 - 导航系统码偏差数据的监测方法、装置、设备及存储介质 - Google Patents

导航系统码偏差数据的监测方法、装置、设备及存储介质 Download PDF

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WO2023130553A1
WO2023130553A1 PCT/CN2022/078625 CN2022078625W WO2023130553A1 WO 2023130553 A1 WO2023130553 A1 WO 2023130553A1 CN 2022078625 W CN2022078625 W CN 2022078625W WO 2023130553 A1 WO2023130553 A1 WO 2023130553A1
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Prior art keywords
data
detected
code deviation
state
residual
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PCT/CN2022/078625
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English (en)
French (fr)
Inventor
翟亚慰
宛子翔
王洋
赵亮
张�浩
陈星宇
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浙江时空道宇科技有限公司
浙江吉利控股集团有限公司
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Publication of WO2023130553A1 publication Critical patent/WO2023130553A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements

Definitions

  • the invention relates to the field of satellite navigation, in particular to a method, device, equipment and storage medium for monitoring code deviation data of a navigation system.
  • Code deviation is the error that must be deducted in the precise processing of global satellite navigation system data, and is the necessary input information to achieve high-precision positioning.
  • the data value of the code deviation is relatively stable, it may still be affected by the noise of the observation environment and the failure of the data encoding and decoding program, which will cause a large error in the code deviation data received by the user, which will lead to abnormal positioning. Therefore, it is necessary to monitor the code deviation products in the navigation system in real time to ensure the accuracy of positioning.
  • the monitoring method of the existing navigation system code deviation data is to calculate the standard deviation of the absolute value of the code deviation data, and then compare the standard deviation of the code deviation data with the preset threshold value, if the standard deviation of the code deviation product is greater than the expected If the threshold is set, it means that the code deviation product is unavailable, so as to realize the monitoring of code deviation data.
  • the existing technology only monitors the code deviation data by calculating the standard deviation of the code deviation product, so there is a problem of low monitoring accuracy.
  • the invention provides a method, device, equipment and storage medium for monitoring code deviation data of a navigation system, which solves the problem of low monitoring accuracy of the existing code deviation data.
  • the present invention adopts the following technical solutions:
  • the present invention provides a method for monitoring navigation system code deviation data, the method comprising:
  • the first state is used to indicate that the code deviation data is unusable data
  • For the data to be detected calculate the residual data between every two data to be detected, and determine the data state of each data to be detected according to the residual data and the first preset threshold, the data state includes the first state and the second state, the second state is used to indicate that the code deviation data is usable data.
  • M abnormal data and N data to be detected are determined from the code deviation data, including:
  • For each data to be processed obtain the data to be processed after a preset time period, and obtain the epoch data of each data to be processed;
  • the data to be processed is determined as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, the data to be processed is determined as data to be detected.
  • a plurality of data to be processed is determined from the code deviation data, including:
  • calculating the residual data between every two data to be detected includes:
  • first transmission frequency and the second transmission frequency are the same, then according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the preset data transmitting the error and the first preset algorithm to obtain the residual data of the first data to be detected and the second data to be detected;
  • the first transmission frequency and the second transmission frequency are different, the first data to be detected and the second data to be detected are obtained according to the first data to be detected, the second data to be detected, the first transmission frequency, the second transmission frequency and the second preset algorithm. 2. Residual data of the data to be detected.
  • the first preset algorithm satisfies:
  • ⁇ i is the pseudorange data of the ith data to be detected
  • ⁇ j is the pseudorange data of the jth data to be detected
  • CB i is the ith data to be detected
  • CB j is the jth data to be detected
  • Detection data ⁇ is the preset data transmission error.
  • the second preset algorithm satisfies:
  • f i is the transmission frequency of the i-th data to be detected
  • f j is the transmission frequency of the j-th data to be detected
  • CB i is the i-th data to be detected
  • CB j is the j-th data to be detected.
  • determining the data state of the target code deviation data according to the residual data and the first preset threshold includes:
  • the data states of the two data to be detected corresponding to the residual data are determined as the second state
  • the residual data is greater than or equal to the first preset threshold, calculate the residual data between the first data to be detected and the third data to be detected, obtain the first reference residual data, and calculate the second data to be detected and the first data to be detected
  • the residual data between the three data to be detected is obtained to obtain the second reference residual data, wherein the data state of the third data to be detected is the second state;
  • the data states of the first data to be detected and the second data to be detected are determined according to the first reference residual data and the second reference residual data.
  • determining the data states of the first data to be detected and the second data to be detected according to the first reference residual data and the second reference residual data includes:
  • the data state of the first data to be detected is determined as the second state, and the data state of the second data to be detected is determined as the first state.
  • the method further includes:
  • the code deviation data and the data state corresponding to each code deviation data are continuously encoded to obtain a data packet, and the data packet is sent to the terminal device.
  • the method also includes:
  • Detect the decoded code deviation data determine the data state of each decoded code deviation data, and re-encode the decoded code deviation data and the data state of the decoded code deviation data to the terminal device.
  • a device for monitoring code deviation data of a navigation system comprising:
  • An acquisition module configured to acquire code deviation data corresponding to each pseudorange data in a plurality of pseudorange data
  • the first determining module is used to determine M abnormal data and N data to be detected from the code deviation data, wherein M is an integer greater than or equal to 1, N is an integer greater than 1, and the quantity of the code deviation data is equal to (M +N), and determine the data state of the abnormal data as the first state, and the first state is used to indicate that the code deviation data is unavailable data;
  • a calculation module configured to calculate the residual data between every two data to be detected for the data to be detected
  • the second determination module is configured to determine the data state of each data to be detected according to the residual data and the first preset threshold, the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is available data.
  • the third aspect of the embodiment of the present application provides a server, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the steps of any method of the first aspect of the embodiment of the present application are implemented.
  • the fourth aspect of the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect of the embodiment of the present application are implemented.
  • the method for monitoring the code deviation data of the navigation system obtains the code deviation data corresponding to each pseudo-range data in the multiple pseudo-range data, and then determines a plurality of abnormal data and a plurality of undetected data from the code deviation data.
  • the data state of the abnormal data is determined as the first state, and the first state is used to indicate that the code deviation data is unavailable data; finally, for the data to be detected, the residual data between every two data to be detected is calculated, and according to The residual data and the first preset threshold determine the data state of each data to be detected, wherein the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is usable data.
  • the monitoring method of the navigation system code deviation data provided by the embodiment of the present application is to determine the abnormal data and the data to be detected in the code deviation data, and then determine the data to be detected by calculating the residual data between the data to be detected. Detect the data state of the data, so as to realize the monitoring of the code deviation data. Compared with the prior art, the monitoring of the code deviation data is realized only by comparing the standard deviation of the code deviation data with the preset threshold value.
  • the present application provides Monitoring methods can improve the accuracy of data monitoring.
  • FIG. 1 is a schematic diagram of the internal structure of a server provided by an embodiment of the present invention.
  • Fig. 2 is a flowchart of a method for monitoring code deviation data of a navigation system provided by an embodiment of the present invention
  • FIG. 3 is a flow chart of a technical process for determining M abnormal data and N data to be detected from code deviation data provided by an embodiment of the present invention
  • FIG. 4 is a flow chart of a technical process for calculating residual data between every two data to be detected provided by an embodiment of the present invention
  • FIG. 5 is a flowchart of a technical process for determining the data status of target code deviation data according to residual data and a first preset threshold provided by an embodiment of the present invention
  • Fig. 6 is a structural diagram of a device for monitoring code deviation data of a navigation system provided by an embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality” means two or more.
  • the embodiment of the present invention provides a navigation system code deviation data monitoring method, device, equipment and storage medium, which can improve the accuracy of the code deviation data monitoring. Accuracy.
  • the execution subject of the monitoring method of the navigation system code deviation data provided by the embodiment of the present application is a server
  • the server includes a memory and a processor
  • a computer program is stored in the memory
  • the processor implements the present invention when executing the computer program. Any step in the monitoring method of navigation system code deviation data in the embodiment of the application.
  • the server may be one server or a server cluster composed of multiple servers, which is not limited in this application.
  • the embodiment of the present application provides a method for monitoring code deviation data of a navigation system, the method includes the following steps:
  • Step 201 Obtain code deviation data corresponding to each pseudo-range data in multiple pseudo-range data, and determine M abnormal data and N data to be detected from the code deviation data.
  • M is an integer greater than or equal to 1
  • N is an integer greater than 1
  • the number of code deviation data is equal to (M+N).
  • the code deviation data is first divided into two categories, namely: abnormal data and data to be detected.
  • Step 202 Determine the data state of the abnormal data as the first state.
  • the first state is used to indicate that the code deviation data is unavailable data, and specifically, the unavailable data indicates that the data is abnormal or has a large error.
  • Step 203 for the data to be detected, calculate residual data between every two data to be detected.
  • Step 204 Determine the data status of each data to be detected according to the residual data and the first preset threshold.
  • the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is usable data.
  • the method for monitoring the code deviation data of the navigation system obtains the code deviation data corresponding to each pseudo-range data in the multiple pseudo-range data, and then determines a plurality of abnormal data and a plurality of undetected data from the code deviation data.
  • the data state of the abnormal data is determined as the first state, and the first state is used to indicate that the code deviation data is unavailable data; finally, for the data to be detected, the residual data between every two data to be detected is calculated, and according to The residual data and the first preset threshold determine the data state of each data to be detected, wherein the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is usable data.
  • the monitoring method of the navigation system code deviation data provided by the embodiment of the present application is to determine the abnormal data and the data to be detected in the code deviation data, and then determine the data to be detected by calculating the residual data between the data to be detected. Detect the data state of the data, so as to realize the monitoring of the code deviation data. Compared with the prior art, the monitoring of the code deviation data is realized only by comparing the standard deviation of the code deviation data with the preset threshold value.
  • the present application provides Monitoring methods can improve the accuracy of data monitoring.
  • the embodiment of the present application provides a technical process for determining M abnormal data and N data to be detected from the code deviation data, and the process includes the following steps:
  • Step 301 determining a plurality of data to be processed from the code deviation data
  • Step 302 for each data to be processed, obtain the data to be processed after a preset time period, and obtain the epoch data of each data to be processed;
  • the data to be processed is acquired again in a preset time period, and the data to be processed again is called epoch data.
  • the code deviation data acquired after 5 seconds is called primary epoch data
  • the code deviation data acquired after 10 seconds is called secondary epoch data, etc.
  • Step 303 Calculate the epoch difference between each data to be processed and the epoch data of the data to be processed, and compare the epoch difference with a second preset threshold.
  • the data difference between each data to be processed and its corresponding primary epoch data can be calculated separately, and the data difference between each data to be processed and its corresponding secondary epoch data can be calculated separately, A plurality of epoch difference values are obtained, and the epoch difference values are compared with a second preset threshold.
  • Step 304 If the epoch difference is greater than a second preset threshold, determine the data to be processed as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, determine the data to be processed as data to be detected.
  • this embodiment monitors the code deviation data by calculating the epoch difference between the code deviation data and the corresponding epoch data, which can improve the accuracy of the code deviation data monitoring.
  • a plurality of data to be processed is determined from the code deviation data, including:
  • the code deviation data can be monitored again, so that the monitoring accuracy can be further improved.
  • the embodiment of the present application provides a technical process for calculating the residual data between every two data to be detected, the process includes the following steps:
  • Step 401 Obtain the first transmission frequency of the first data to be detected and the second transmission frequency of the second data to be detected, and determine whether the first transmission frequency and the second transmission frequency are the same;
  • the transmission frequency refers to the transmission frequency of the pseudorange data corresponding to the code deviation data.
  • Step 402 if the first transmission frequency and the second transmission frequency are the same, according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the pre- The set data transmission error and the first preset algorithm are used to obtain the residual data of the first data to be detected and the second data to be detected;
  • Step 403 if the first transmission frequency and the second transmission frequency are different, then according to the first data to be detected, the second data to be detected, the first transmission frequency, the second transmission frequency and the second preset algorithm, the first transmission frequency to be detected is obtained data and the residual data of the second data to be detected.
  • the first preset algorithm satisfies:
  • ⁇ i is the pseudorange data of the ith data to be detected
  • ⁇ j is the pseudorange data of the jth data to be detected
  • CB i is the ith data to be detected
  • CB j is the jth data to be detected
  • Detection data ⁇ is the preset data transmission error.
  • the second preset algorithm satisfies:
  • f i is the transmission frequency of the i-th data to be detected
  • f j is the transmission frequency of the j-th data to be detected
  • CB i is the i-th data to be detected
  • CB j is the j-th data to be detected.
  • the embodiment of the present application provides a technical process for determining the data state of the target code deviation data according to the residual data and the first preset threshold, and the process includes the following steps:
  • Step 501 if the residual data is smaller than the first preset threshold, determine the data states of the two data to be detected corresponding to the residual data as the second state;
  • Step 502 If the residual data is greater than or equal to the first preset threshold, calculate the residual data between the first data to be detected and the third data to be detected, obtain the first reference residual data, and calculate the second data to be detected The residual data between the data and the third data to be detected is used to obtain the second reference residual data.
  • the data state of the third data to be detected is the second state.
  • Step 503. Determine the data states of the first data to be detected and the second data to be detected according to the first reference residual data and the second reference residual data.
  • determining the data states of the first data to be detected and the second data to be detected according to the first reference residual data and the second reference residual data includes:
  • the data state of the first data to be detected is determined as the second state, and the data state of the second data to be detected is determined as the first state.
  • the residual data is less than the first preset threshold, it means that the two code deviation data corresponding to the residual data are normal, and these two data can be used. If the residual data is greater than or equal to the first preset threshold , it means that there is abnormal data in the two code deviation data, so it needs to be compared with the third data to be detected before making a determination.
  • the data state of the code deviation data is determined by calculating the residual data, which can improve the accuracy of code deviation data monitoring.
  • the method further includes:
  • the code deviation data and the data state corresponding to each code deviation data are continuously encoded to obtain a data packet, and the data packet is sent to the terminal device.
  • the terminal device After the terminal device receives the data packet, it decodes the data packet to obtain the code deviation data and the data state of the code deviation data, and determines whether to use the code deviation data for positioning operations and other work according to the data state of the code deviation data.
  • the method further includes: decoding the data packet to obtain decoded code deviation data; detecting the decoded code deviation data, and determining the data status of each decoded code deviation data, and The decoded code deviation data and the data state of the decoded code deviation data are re-encoded to the terminal device.
  • the current server or another server in the current server cluster will receive the data packet sent to the terminal device again, and decode the data to obtain the decoded Code deviation data, then execute the navigation system code deviation data monitoring method provided by the application once again for the decoded code deviation data, realize the secondary detection of the decoded code deviation data, and obtain the secondary data state of the code deviation data, This detection is to avoid data errors caused by encoding and decoding, resulting in changes in the data state of the decoded code deviation data, and to reassess the decoded code deviation data and the secondary data state corresponding to the decoded code deviation data Encoded and sent to the terminal device.
  • the method for troubleshooting satellite navigation measurement faults provided by this application is introduced by taking the execution subject as a terminal device as an example. Specifically, the method includes:
  • the data to be processed is determined as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, the data to be processed is determined as data to be detected;
  • the first state is used to indicate that the code deviation data is unavailable data
  • the first transmission frequency and the second transmission frequency are the same, then according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the pre- The set data transmission error and the first preset algorithm are used to obtain the residual data of the first data to be detected and the second data to be detected;
  • the embodiment of the present application provides a navigation system code deviation data monitoring device, which includes: an acquisition module 11 , a first determination module 12 , a calculation module 13 , and a second determination module 14 .
  • An acquisition module 11 configured to acquire code deviation data corresponding to each pseudo-range data in a plurality of pseudo-range data
  • the first determining module 12 is used to determine M abnormal data and N data to be detected from the code deviation data, wherein M is an integer greater than or equal to 1, N is an integer greater than 1, and the number of code deviation data is equal to ( M+N), and determine the data state of the abnormal data as the first state, and the first state is used to indicate that the code deviation data is unavailable data;
  • Calculation module 13 for the data to be detected, calculate the residual data between every two data to be detected;
  • the second determination module 14 is used to determine the data state of each data to be detected according to the residual data and the first preset threshold, the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is data available.
  • the first determination module 12 is specifically configured to: determine a plurality of data to be processed from the code deviation data; for each data to be processed, obtain the data to be processed after a preset time period, and obtain the data to be processed Epoch data; calculate the epoch difference between each data to be processed and the epoch data of the data to be processed, and compare the epoch difference with the second preset threshold; if the epoch difference is greater than the second preset threshold , the data to be processed is determined as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, the data to be processed is determined as data to be detected.
  • the first determining module 12 is specifically configured to: calculate the absolute value of each code deviation data, compare the absolute value of each code deviation data with a third preset threshold, and make the absolute value less than the third preset threshold
  • the code deviation data with a threshold value is determined as code deviation data to be detected, and the code deviation data with an absolute value greater than or equal to a third preset threshold value is determined as abnormal data.
  • the calculation module 13 is specifically configured to: acquire a first transmission frequency of the first data to be detected and a second transmission frequency of the second data to be detected, and determine whether the first transmission frequency is the same as the second transmission frequency; If the first transmission frequency and the second transmission frequency are the same, then according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the preset data transmission error and the first preset algorithm to obtain the residual data of the first data to be detected and the second data to be detected; if the first transmission frequency and the second transmission frequency are different, then according to the first data to be detected, the second The data, the first transmission frequency, the second transmission frequency and the second preset algorithm are used to obtain the residual data of the first data to be detected and the second data to be detected.
  • the first preset algorithm satisfies:
  • ⁇ i is the pseudorange data of the ith data to be detected
  • ⁇ j is the pseudorange data of the jth data to be detected
  • CB i is the ith data to be detected
  • CB j is the jth data to be detected
  • Detection data ⁇ is the preset data transmission error.
  • the second preset algorithm satisfies:
  • f i is the transmission frequency of the i-th data to be detected
  • f j is the transmission frequency of the j-th data to be detected
  • CB i is the i-th data to be detected
  • CB j is the j-th data to be detected.
  • the second determination module 14 is specifically configured to: if the residual data is less than the first preset threshold, then determine the data states of the two data to be detected corresponding to the residual data as the second state; if the residual data If the difference data is greater than or equal to the first preset threshold, the residual data between the first data to be detected and the third data to be detected is calculated to obtain the first reference residual data, and the second data to be detected and the third data to be detected are calculated. Detect the residual data between the data to obtain the second reference residual data, wherein the data state of the third data to be detected is the second state; determine the first reference residual data according to the first reference residual data and the second reference residual data Data states of the detection data and the second data to be detected.
  • the second determination module 14 is specifically configured to: compare the first reference residual data and the second reference residual data with the first preset threshold, if the first reference residual data is greater than or equal to the first a preset threshold, the first data to be detected is determined as the first state, and the second data to be detected is determined as the second state; if the second reference residual data is greater than or equal to the first preset threshold, the first The data state of the data to be detected is determined as the second state, and the data state of the second data to be detected is determined as the first state.
  • the apparatus further includes an encoding module 15, configured to continue encoding processing on the code deviation data and the data state corresponding to each code deviation data, obtain a data packet, and send the data packet to the terminal device.
  • an encoding module 15 configured to continue encoding processing on the code deviation data and the data state corresponding to each code deviation data, obtain a data packet, and send the data packet to the terminal device.
  • the device further includes a decoding module 16 and a detection module 17, wherein the decoding module 16 is used to decode the data packets to obtain decoded code deviation data;
  • the detection module 17 is used to detect the decoded code deviation data, and determine the data state of each decoded code deviation data, and re-encode the decoded code deviation data and the data state of the decoded code deviation data to end devices.
  • the device for monitoring code deviation data of the navigation system provided in this embodiment can execute the above-mentioned method embodiment, and its implementation principle and technical effect are similar, and will not be repeated here.
  • Each module in the above-mentioned device for monitoring code deviation data of the navigation system can be fully or partially realized by software, hardware and combinations thereof.
  • the above-mentioned modules can be embedded in or independent of the processor in the server in the form of hardware, and can also be stored in the memory of the server in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.
  • FIG. 1 is a schematic diagram of an internal structure of a server provided in an embodiment of the present application.
  • the server includes a processor and a memory connected through a system bus.
  • the processor is used to provide calculation and control capabilities.
  • the memory may include non-volatile storage media and internal memory.
  • Nonvolatile storage media store operating systems and computer programs.
  • the computer program can be executed by a processor, so as to realize the steps of a method for monitoring code deviation data of a navigation system provided in the above embodiments.
  • Internal memory provides a cached operating environment for operating systems and computer programs in non-volatile storage media.
  • FIG. 1 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation to the server on which the solution of this application is applied.
  • a specific server may include a specific server such as More or fewer components are shown in the figures, or certain components are combined, or have different component arrangements.
  • a server in one embodiment, includes a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:
  • the data state of abnormal data is determined as the first state, and the first state is used to indicate code deviation data as unavailable data;
  • For the data to be detected calculate every two The residual data between the data to be detected, and according to the residual data and the first preset threshold, determine the data state of each data to be detected, the data state includes the first state and the second state, and the second state is used to indicate Code deviation data is available.
  • the processor executes the computer program, the following steps are implemented: determining a plurality of data to be processed from the code deviation data; The epoch data of the data; calculate the epoch difference between each data to be processed and the epoch data of the data to be processed, and compare the epoch difference with the second preset threshold; if the epoch difference is greater than the second preset If the threshold is set, the data to be processed is determined as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, the data to be processed is determined as data to be detected.
  • the following steps are implemented when the processor executes the computer program: calculate the absolute value of each code deviation data, compare the absolute value of each code deviation data with a third preset threshold, and make the absolute value less than the third threshold
  • Code deviation data with a preset threshold is determined as code deviation data to be detected, and code deviation data whose absolute value is greater than or equal to a third preset threshold is determined as abnormal data.
  • the processor implements the following steps when executing the computer program: acquiring the first transmission frequency of the first data to be detected and the second transmission frequency of the second data to be detected, and judging the difference between the first transmission frequency and the second transmission frequency whether the frequency is the same;
  • first transmission frequency and the second transmission frequency are the same, then according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the preset data transmitting the error and the first preset algorithm to obtain the residual data of the first data to be detected and the second data to be detected;
  • the first transmission frequency and the second transmission frequency are different, the first data to be detected and the second data to be detected are obtained according to the first data to be detected, the second data to be detected, the first transmission frequency, the second transmission frequency and the second preset algorithm. 2. Residual data of the data to be detected.
  • the processor implements the following steps when executing the computer program:
  • ⁇ i is the pseudorange data of the ith data to be detected
  • ⁇ j is the pseudorange data of the jth data to be detected
  • CB i is the ith data to be detected
  • CB j is the jth data to be detected
  • Detection data ⁇ is the preset data transmission error.
  • the processor implements the following steps when executing the computer program:
  • f i is the transmission frequency of the i-th data to be detected
  • f j is the transmission frequency of the j-th data to be detected
  • CB i is the i-th data to be detected
  • CB j is the j-th data to be detected.
  • the processor executes the computer program, the following steps are implemented: if the residual data is smaller than the first preset threshold, the data states of the two data to be detected corresponding to the residual data are both determined as the second state; If the residual data is greater than or equal to the first preset threshold, calculate the residual data between the first data to be detected and the third data to be detected, obtain the first reference residual data, and calculate the second data to be detected and the first data to be detected The residual data between the three data to be detected is obtained to obtain the second reference residual data, wherein the data state of the third data to be detected is the second state;
  • the data states of the first data to be detected and the second data to be detected are determined according to the first reference residual data and the second reference residual data.
  • the processor implements the following steps when executing the computer program: comparing the first reference residual data and the second reference residual data with a first preset threshold, if the first reference residual data is greater than or equal to the first preset threshold, the first data to be detected is determined as the first state, and the second data to be detected is determined as the second state; if the second reference residual data is greater than or equal to the first preset threshold, then the The data state of the first data to be detected is determined as the second state, and the data state of the second data to be detected is determined as the first state.
  • the processor implements the following steps when executing the computer program: continue encoding processing on the code deviation data and the data state corresponding to each code deviation data, obtain a data packet, and send the data packet to the terminal device.
  • the processor executes the computer program, the following steps are implemented: decoding the data packet to obtain decoded code deviation data; detecting the decoded code deviation data, and determining each decoded code deviation data The data state of the deviation data, and re-encode the decoded code deviation data and the data state of the decoded code deviation data to the terminal device.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining each pseudorange in a plurality of pseudorange data The code deviation data corresponding to the data, and determine M abnormal data and N data to be detected from the code deviation data, wherein, M is an integer greater than or equal to 1, N is an integer greater than 1, and the quantity of the code deviation data is equal to ( M+N); the data state of the abnormal data is determined as the first state, and the first state is used to indicate that the code deviation data is unavailable data; for the data to be detected, calculate the residual data between every two data to be detected, And according to the residual data and the first preset threshold, determine the data state of each data to be detected, the data state includes a first state and a second state, and the second state is used to indicate that the code deviation data is usable data.
  • the following steps are implemented: determining a plurality of data to be processed from the code deviation data; Process the epoch data of the data; calculate the epoch difference between each data to be processed and the epoch data of the data to be processed, and compare the epoch difference with the second preset threshold; if the epoch difference is greater than the second If the preset threshold is used, the data to be processed is determined as abnormal data, and if the epoch difference is less than or equal to the second preset threshold, the data to be processed is determined as data to be detected.
  • the following steps are implemented: calculate the absolute value of each code deviation data, compare the absolute value of each code deviation data with a third preset threshold, and make the absolute value less than the first
  • the code deviation data with three preset thresholds is determined as code deviation data to be detected, and the code deviation data whose absolute value is greater than or equal to the third preset threshold is determined as abnormal data.
  • the following steps are implemented: acquiring the first transmission frequency of the first data to be detected and the second transmission frequency of the second data to be detected, and judging the difference between the first transmission frequency and the second transmission frequency Whether the transmission frequency is the same;
  • first transmission frequency and the second transmission frequency are the same, then according to the first data to be detected, the second data to be detected, the pseudorange data of the first data to be detected, the pseudorange data of the second data to be detected, the preset data transmitting the error and the first preset algorithm to obtain the residual data of the first data to be detected and the second data to be detected;
  • the first transmission frequency and the second transmission frequency are different, the first data to be detected and the second data to be detected are obtained according to the first data to be detected, the second data to be detected, the first transmission frequency, the second transmission frequency and the second preset algorithm. 2. Residual data of the data to be detected.
  • the computer program implements the following steps when executed by the processor:
  • ⁇ i is the pseudorange data of the ith data to be detected
  • ⁇ j is the pseudorange data of the jth data to be detected
  • CB i is the ith data to be detected
  • CB j is the jth data to be detected
  • Detection data ⁇ is the preset data transmission error.
  • the processor implements the following steps when executing the computer program:
  • f i is the transmission frequency of the i-th data to be detected
  • f j is the transmission frequency of the j-th data to be detected
  • CB i is the i-th data to be detected
  • CB j is the j-th data to be detected.
  • the following steps are implemented: if the residual data is smaller than the first preset threshold, the data states of the two data to be detected corresponding to the residual data are both determined as the second state ; If the residual data is greater than or equal to the first preset threshold, calculate the residual data between the first data to be detected and the third data to be detected, obtain the first reference residual data, and calculate the second data to be detected and the The residual data between the third data to be detected is obtained as second reference residual data, wherein the data state of the third data to be detected is the second state; determined according to the first reference residual data and the second reference residual data Data states of the first data to be detected and the second data to be detected.
  • the following steps are implemented: comparing the first reference residual data and the second reference residual data with a first preset threshold, if the first reference residual data is greater than or equal to the first preset threshold, then determine the first data to be detected as the first state, and determine the second data to be detected as the second state; if the second reference residual data is greater than or equal to the first preset threshold, then The data state of the first data to be detected is determined as the second state, and the data state of the second data to be detected is determined as the first state.
  • the following steps are implemented: continue encoding processing on the code deviation data and the data state corresponding to each code deviation data, obtain a data packet, and send the data packet to the terminal device.
  • the following steps are implemented: decoding the data packets to obtain decoded code deviation data; detecting the decoded code deviation data, and determining each decoded code deviation data The data state of the code deviation data, and re-encode the decoded code deviation data and the data state of the decoded code deviation data to the terminal device.
  • Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in M forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Road (SyMchliMk) DRAM (SLDRAM), memory bus (RaMbus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

一种导航系统码偏差数据的监测方法、装置、设备及存储介质，涉及卫星导航领域，解决了现有的码偏差数据的监测准确度不高的问题。该方法包括：获取多个伪距数据中每个伪距数据对应的码偏差数据，并从码偏差数据中确定M个异常数据和N个待检测数据（201），其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)；将异常数据的数据状态确定为第一状态（202），第一状态用于指示码偏差数据为不可用数据；针对待检测数据，计算每两个待检测数据之间的残差数据（203），并根据残差数据和第一预设阈值，确定每个待检测数据的数据状态（204），数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。

Description

导航系统码偏差数据的监测方法、装置、设备及存储介质 技术领域
本发明涉及卫星导航领域，尤其涉及一种导航系统码偏差数据的监测方法、装置、设备及存储介质。
背景技术
码偏差是全球卫星导航系统数据精密处理中必须扣除的误差，是实现高精度定位的必要输入信息。虽然码偏差的数据值相对比较稳定，但仍然有可能受到观测环境噪声和数据编解码程序故障等的影响，导致用户收到的码偏差数据出现较大的误差，进而导致出现定位异常的情况，因此需要对导航系统中的码偏差产品进行实时监测，以确保定位的精确性。
现有的导航系统码偏差数据的监测方法，是通过计算码偏差数据的绝对值的标准差，然后将该码偏差数据的标准差与预设阈值进行比较，若码偏差产品的标准差大于预设阈值，则说明该码偏差产品不可用，从而实现码偏差数据的监测。然而，现有技术只是通过计算码偏差产品的标准差来对码偏差数据进行监测，因此存在监测准确度不高的问题。
发明内容
本发明提供一种导航系统码偏差数据的监测方法、装置、设备及存储介质，解决了现有的码偏差数据的监测准确度不高的问题。
为达到上述目的，本发明采用如下技术方案：
第一方面，本发明提供一种导航系统码偏差数据的监测方法，该方法包括：
获取多个伪距数据中每个伪距数据对应的码偏差数据，并从码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)；
将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；
针对待检测数据，计算每两个待检测数据之间的残差数据，并根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
在一个实施例中，从码偏差数据中确定M个异常数据和N个待检测数据，包括：
从码偏差数据中确定多个待处理数据；
针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；
计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值 对比；
若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据。
在一个实施例中，从码偏差数据中确定多个待处理数据，包括：
计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
在一个实施例中，计算每两个待检测数据之间的残差数据，包括：
获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；
若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；
若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据。
在一个实施例中，第一预设算法满足：
Figure PCTCN2022078625-appb-000001
其中，
Figure PCTCN2022078625-appb-000002
为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
在一个实施例中，第二预设算法满足：
Figure PCTCN2022078625-appb-000003
其中，
Figure PCTCN2022078625-appb-000004
为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
在一个实施例中，根据残差数据和第一预设阈值确定目标码偏差数据的数据状态，包括：
若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第 二状态；
若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据，其中，第三待检测数据的数据状态为第二状态；
根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态。
在一个实施例中，根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态，包括：
将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；
若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态。
在一个实施例中，在确定每个待检测数据的数据状态之后，方法还包括：
对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备。
在一个实施例中，方法还包括：
对数据包进行解码数据，得到解码后的码偏差数据；
对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
本申请实施例第二方面，提供一种导航系统码偏差数据的监测装置，该装置包括：
获取模块，用于获取多个伪距数据中每个伪距数据对应的码偏差数据；
第一确定模块，用于从码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)，并将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；
计算模块，用于针对待检测数据，计算每两个待检测数据之间的残差数据；
第二确定模块，用于根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
本申请实施例第三方面，提供一种服务器，包括存储器和处理器，存储器存储有计算机程序，计算机程序被处理器执行时实现本申请实施例第一方面任一的方法的步骤。
本申请实施例第四方面，提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如本申请实施例第一方面任一的方法的步骤。
本申请实施例提供的导航系统码偏差数据的监测方法，通过获取多个伪距数据中每个伪距数据对应的码偏差数据，然后从码偏差数据中确定多个异常数据和多个待检测数据，将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；最后针对待检测数据，计算每两个待检测数据之间的残差数据，并根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，其中，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。本申请实施例提供的导航系统码偏差数据的监测方法，由于是确定码偏差数据中的异常数据和待检测数据，然后针对待检测数据通过计算待检测数据之间得残差数据，来确定待检测数据的数据状态，从而实现对码偏差数据的监测，相较于现有技术中，仅通过将码偏差数据的标准差与预设阈值进行比较来实现码偏差数据的监测，本申请提供的监测方法能够提高数据监测的准确性。
附图说明
图1为本发明实施例提供的一种服务器内部结构示意图；
图2为本发明实施例提供的一种导航系统码偏差数据的监测方法的流程图；
图3为本发明实施例提供的一种从码偏差数据中确定M个异常数据和N个待检测数据的技术过程的流程图；
图4为本发明实施例提供的一种计算每两个待检测数据之间的残差数据的技术过程的流程图；
图5为本发明实施例提供的一种根据残差数据和第一预设阈值确定目标码偏差数据的数据状态的技术过程的流程图；
图6为本发明实施例提供的一种导航系统码偏差数据的监测装置的结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
以下，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本公开实施例的描述中，除非另有说明， “多个”的含义是两个或两个以上。
另外，“基于”或“根据”的使用意味着开放和包容性，因为“基于”或“根据”一个或多个所述条件或值的过程、步骤、计算或其他动作在实践中可以基于额外条件或超出所述的值。
为了解决现在的是导航系统码偏差数据监测的准确度不高的问题，本发明实施例提供了一种导航系统码偏差数据的监测方法、装置、设备及存储介质，可以提高码偏差数据监测的准确度。
如图1所示，本申请实施例提供的导航系统码偏差数据的监测方法的执行主体为服务器，该服务器包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现本申请实施例中的导航系统码偏差数据的监测方法中的任一步骤。可选的，该服务器可以为一台服务器也可以是多台服务器组成的服务器集群，本申请对此不作限定。
请参考图2，本申请实施例提供了一种导航系统码偏差数据的监测方法，该方法包括以下步骤：
步骤201、获取多个伪距数据中每个伪距数据对应的码偏差数据，并从码偏差数据中确定M个异常数据和N个待检测数据。
其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)。
也就是说，在获取到多个码偏差数据后，先将码偏差数据分为两类，即：异常数据和待检测数据。
步骤202、将异常数据的数据状态确定为第一状态。
其中，第一状态用于指示码偏差数据为不可用数据，具体的，不可用数据说明该数据的存在数据异常，或者误差较大。
步骤203、针对待检测数据，计算每两个待检测数据之间的残差数据。
步骤204、根据残差数据和第一预设阈值，确定每个待检测数据的数据状态。
其中，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
本申请实施例提供的导航系统码偏差数据的监测方法，通过获取多个伪距数据中每个伪距数据对应的码偏差数据，然后从码偏差数据中确定多个异常数据和多个待检测数据，将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；最后针对待检测数据，计算每两个待检测数据之间的残差数据，并根据残差数据和第一预设阈 值，确定每个待检测数据的数据状态，其中，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。本申请实施例提供的导航系统码偏差数据的监测方法，由于是确定码偏差数据中的异常数据和待检测数据，然后针对待检测数据通过计算待检测数据之间得残差数据，来确定待检测数据的数据状态，从而实现对码偏差数据的监测，相较于现有技术中，仅通过将码偏差数据的标准差与预设阈值进行比较来实现码偏差数据的监测，本申请提供的监测方法能够提高数据监测的准确性。
如图3所示，本申请实施例提供了一种从码偏差数据中确定M个异常数据和N个待检测数据的技术过程，该过程包括以下步骤：
步骤301、从码偏差数据中确定多个待处理数据；
可选的，在从码偏差数据中确定M个异常数据和N个待检测数据时，需要先从码偏差数据中确定多个待处理数据，其中，待处理数据仍为码偏差数据。
步骤302、针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；
由于每个码偏差数据会随着时间发生数值变化，因此在预设时间周期下，再次获取待处理数据，并将再次获取的待处理数据称为历元数据。
可选的，如在5秒后获取的码偏差数据称为一次历元数据，10秒后获取的码偏差数据称为二次历元数据等。
步骤303、计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值对比。
在实际应用中，可以分别计算每个待处理数据与其对应的一次历元数据之间的数据差值，可以分别计算每个待处理数据与其对应的二次历元数据之间的数据差值，得到多个历元差值，并将该历元差值与第二预设阈值进行对比。
步骤304、若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据。
在实际应用中，若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或者等于第二预设阈值，则将待处理数据确定为待检测数据，本实施例通过计算码偏差数据与对应的历元数据之间的历元差值，来对码偏差数据进行监测，可以提高码偏差数据监测的精确度。
在一个实施例中，从码偏差数据中确定多个待处理数据，包括：
计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对 值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
在实际应用中，通过将码偏差数据的绝对值与预设阈值进行比较，可以再次对码偏差数据进行监测，从而可以进一步提高监测精度。
如图4所示，本申请实施例提供了一种计算每两个待检测数据之间的残差数据的技术过程，该过程包括以下步骤：
步骤401、获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；
其中，发射频率是指码偏差数据对应的伪距数据的发射频率。
步骤402、若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；
步骤403、若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据。
需要说明的是，在计算每两个待检测数据之间的残差数据时，需要先判断两个待检测数据对应的发射频率是否相同，若相同，则根据第一预设算法进行计算，若不相同，则根据第二预设算法进行计算。
在一个实施例中，第一预设算法满足：
Figure PCTCN2022078625-appb-000005
其中，
Figure PCTCN2022078625-appb-000006
为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
在一个实施例中，第二预设算法满足：
Figure PCTCN2022078625-appb-000007
其中，
Figure PCTCN2022078625-appb-000008
为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
如图5所示，本申请实施例提供了一种根据残差数据和第一预设阈值确定目标码偏差数据的数据状态的技术过程，该过程包括以下步骤：
步骤501、若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第二状态；
步骤502、若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据。
其中，第三待检测数据的数据状态为第二状态。
步骤503、根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态。
在一个实施例中，根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态，包括：
将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；
若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态。
在实际应用中，若残差数据小于第一预设阈值，则说明该残差数据对应的两个码偏差数据正常，这两个数据可以使用，若残差数据大于或者等于第一预设阈值，则说明这两个码偏差数据中存在异常数据，因此需要与第三个待检测数据进行参考比较后再进行确定。本实施例通过计算残差数据来确定码偏差数据的数据状态，可以提高码偏差数据监测的准确度。
在一个实施例中，在确定每个待检测数据的数据状态之后，方法还包括：
对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备。
在终端设备接收到数据包后，对数据包进行解码，得到码偏差数据以及码偏差数据的数据状态，根据码偏差数据的数据状态来确定是否使用该码偏差数据进行定位运算等工作。
在一个实施例中，方法还包括：对数据包进行解码数据，得到解码后的码偏差数据；对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解 码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
需要说明的是，在将数据包发送至终端设备后，当前服务器或者当前服务器集群中的另一服务器还会再接收发送至终端设备的数据包，并对该数据包括进行解码，得到解码后的码偏差数据，然后针对解码后的码偏差数据再执行一次本申请提供的导航系统码偏差数据监测方法，实现对解码后的码偏差数据的二次检测，得到码偏差数据的二次数据状态，这次检测是为了避免由于编解码所造成的数据误差，导致解码后的码偏差数据的数据状态产生变化，并将解码后的码偏差数据以及解码后的码偏差数据对应的二次数据状态再次编码后发送至终端设备。
为了便于本领域技术人员的理解，以执行主体为终端设备为例介绍本申请提供的卫星导航测量故障的排除方法，具体的，该方法包括：
(1)获取多个伪距数据中每个伪距数据对应的码偏差数据；
(2)计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
(3)针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；
(4)计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值对比；
(5)若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据；
(6)将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；
(7)针对待检测数据，获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；
(8)若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；
(9)若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据；
(10)若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第二状态；
(11)若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据，其中，第三待检测数据的数据状态为第二状态；
(12)将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；
(13)若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态；
(14)对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备；
(15)对数据包进行解码数据，得到解码后的码偏差数据；
(16)对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
以上(1)至(16)的执行过程具体可以参见上述实施例的描述，其实现原理和技术效果类似，在此不再赘述。
应该理解的是，上述实施例中的步骤流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，上述流程图至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
如图6所示，本申请实施例提供了一种导航系统码偏差数据的监测装置，该装置包括：获取模块11，第一确定模块12，计算模块13，第二确定模块14。
获取模块11，用于获取多个伪距数据中每个伪距数据对应的码偏差数据；
第一确定模块12，用于从码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)，并将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；
计算模块13，用于针对待检测数据，计算每两个待检测数据之间的残差数据；
第二确定模块14，用于根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
在一个实施例中，第一确定模块12具体用于：从码偏差数据中确定多个待处理数据；针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值对比；若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据。
在一个实施例中，第一确定模块12具体用于：计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
在一个实施例中，计算模块13具体用于：获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据。
在一个实施例中，第一预设算法满足：
Figure PCTCN2022078625-appb-000009
其中，
Figure PCTCN2022078625-appb-000010
为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
在一个实施例中，第二预设算法满足：
Figure PCTCN2022078625-appb-000011
其中，
Figure PCTCN2022078625-appb-000012
为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
在一个实施例中，第二确定模块14具体用于：若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第二状态；若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据，其中，第三待检测数据的数据状态为第二状态；根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态。
在一个实施例中，第二确定模块14具体用于：将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态。
在一个实施例中，该装置还包括编码模块15，用于对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备。
在一个实施例中，该装置还包括解码模块16和检测模块17，其中，解码模块16，用于对数据包进行解码数据，得到解码后的码偏差数据；
检测模块17用于对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
本实施例提供的导航系统码偏差数据的监测装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
关于导航系统码偏差数据的监测装置的具体限定可以参见上文中对于导航系统码偏差数据的监测方法的限定，在此不再赘述。上述导航系统码偏差数据的监测装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于服务器中的处理器中，也可以以软件形式存储于服务器的存储器中，以便于处理器调用执行以上各个模块对应的操作。
图1为本申请实施例提供的一种服务器的内部结构示意图。如图1所示，该服务器包括通过系统总线连接的处理器和存储器。其中，该处理器用于提供计算和控制能力。存储器可包括非易失性存储介质及内存储器。非易失性存储介质存储有操作系统和计算机程序。该计算机程序可被处理器所执行，以用于实现以上各个实施例所提供的一种导航系统码偏差数据的监测方法的步骤。内存储器为非易失性存储介质中的操作系统和计算机程序提供高速 缓存的运行环境。
本领域技术人员可以理解，图1中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的服务器的限定，具体的服务器可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在本申请的一个实施例中，提供了一种服务器，该服务器包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
获取多个伪距数据中每个伪距数据对应的码偏差数据，并从码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)；将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；针对待检测数据，计算每两个待检测数据之间的残差数据，并根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：从码偏差数据中确定多个待处理数据；针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值对比；若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；
若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；
若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：
Figure PCTCN2022078625-appb-000013
其中，
Figure PCTCN2022078625-appb-000014
为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：
Figure PCTCN2022078625-appb-000015
其中，
Figure PCTCN2022078625-appb-000016
为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第二状态；若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据，其中，第三待检测数据的数据状态为第二状态；
根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：对数据包进行解码数据，得到解码后的码偏差数据；对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
本实施例提供的服务器，其实现原理和技术效果与上述方法实施例类似，在此不再赘述。
在本申请的一个实施例中，提供了一种计算机可读存储介质，其上中存储有计算机程序，该计算机程序被处理器执行时实现以下步骤：获取多个伪距数据中每个伪距数据对应的码偏差数据，并从码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)；将异常数据的数据状态确定为第一状态，第一状态用于指示码偏差数据为不可用数据；针对待检测数据，计算每两个待检测数据之间的残差数据，并根据残差数据和第一预设阈值，确定每个待检测数据的数据状态，数据状态包括第一状态和第二状态，第二状态用于指示码偏差数据为可用数据。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：从码偏差数据中确定多个待处理数据；针对各待处理数据，获取预设时间周期后的待处理数据，得到各待处理数据的历元数据；计算各待处理数据和待处理数据的历元数据之间的历元差值，并将历元差值与第二预设阈值对比；若历元差值大于第二预设阈值，则将待处理数据确定为异常数据，若历元差值小于或等于第二预设阈值，则将待处理数据确定为待检测数据。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：计算各码偏差数据的绝对值，将各码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于第三预设阈值的码偏差数据确定为待检测码偏差数据，将绝对值大于或者等于第三预设阈值的码偏差数据确定为异常数据。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断第一发射频率与第二发射频率是否相同；
若第一发射频率和第二发射频率相同，则根据第一待检测数据、第二待检测数据、第一待检测数据的伪距数据、第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到第一待检测数据和第二待检测数据的残差数据；
若第一发射频率和第二发射频率不同，则根据第一待检测数据、第二待检测数据、第一发射频率、第二发射频率以及第二预设算法，得到第一待检测数据和第二待检测数据的残差数据。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：
Figure PCTCN2022078625-appb-000017
其中，
Figure PCTCN2022078625-appb-000018
为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
在一个实施例中，该处理器执行计算机程序时实现以下步骤：
Figure PCTCN2022078625-appb-000019
其中，
Figure PCTCN2022078625-appb-000020
为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：若残差数据小于第一预设阈值，则将残差数据对应的两个待检测数据的数据状态均确定为第二状态；若残差数据大于或者等于第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与第三待检测数据之间的残差数据，得到第二参考残差数据，其中，第三待检测数据的数据状态为第二状态；根据第一参考残差数据和第二参考残差数据确定第一待检测数据和第二待检测数据的数据状态。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：将第一参考残差数据和第二参考残差数据分别于第一预设阈值进行比较，若第一参考残差数据大于或者等于第一预设阈值，则将第一待检测数据确定为第一状态，将第二待检测数据确定为第二状态；若第二参考残差数据大于或者等于第一预设阈值，则将第一待检测数据的数据状态确定为第二状态，将第二待检测数据的数据状态确定为第一状态。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：对码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将数据包发送至终端设备。
在一个实施例中，该计算机程序被处理器执行时实现以下步骤：对数据包进行解码数据，得到解码后的码偏差数据；对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至终端设备。
本实施例提供的计算机可读存储介质，其实现原理和技术效果与上述方法实施例类似，在此不再赘述。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通 过计算机程序来指令相关的硬件来完成，的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以M种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(SyMchliMk)DRAM(SLDRAM)、存储器总线(RaMbus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种导航系统码偏差数据的监测方法，其特征在于，所述方法包括：
    获取多个伪距数据中每个伪距数据对应的码偏差数据，并从所述码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)；
    将所述异常数据的数据状态确定为第一状态，所述第一状态用于指示所述码偏差数据为不可用数据；
    针对所述待检测数据，计算每两个待检测数据之间的残差数据，并根据所述残差数据和第一预设阈值，确定每个所述待检测数据的数据状态，所述数据状态包括第一状态和第二状态，所述第二状态用于指示所述码偏差数据为可用数据。
  2. 根据权利要求1所述的方法，其特征在于，所述从所述码偏差数据中确定M个异常数据和N个待检测数据，包括：
    从所述码偏差数据中确定多个待处理数据；
    针对各所述待处理数据，获取预设时间周期后的待处理数据，得到各所述待处理数据的历元数据；
    计算各所述待处理数据和所述待处理数据的历元数据之间的历元差值，并将所述历元差值与第二预设阈值对比；
    若所述历元差值大于所述第二预设阈值，则将所述待处理数据确定为所述异常数据，若所述历元差值小于或等于所述第二预设阈值，则将所述待处理数据确定为所述待检测数据。
  3. 根据权利要求2所述的方法，其特征在于，所述从所述码偏差数据中确定多个待处理数据，包括：
    计算各所述码偏差数据的绝对值，将各所述码偏差数据的绝对值与第三预设阈值进行比较，并将绝对值小于所述第三预设阈值的码偏差数据确定为待检测码偏差数据，将所述绝对值大于或者等于所述第三预设阈值的码偏差数据确定为所述异常数据。
  4. 根据权利要求1所述的方法，其特征在于，所述计算每两个待检测数据之间的残差数据，包括：
    获取第一待检测数据的第一发射频率和第二待检测数据的第二发射频率，并判断所述第一发射频率与所述第二发射频率是否相同；
    若所述第一发射频率和所述第二发射频率相同，则根据所述第一待检测数据、所述第二待检测数据、所述第一待检测数据的伪距数据、所述第二待检测数据的伪距数据、预设的数据传输误差以及第一预设算法，得到所述第一待检测数据和所述第二待检测数据的残差数据；
    若所述第一发射频率和所述第二发射频率不同，则根据所述第一待检测数据、所述第二待检测数据、所述第一发射频率、所述第二发射频率以及第二预设算法，得到所述第一待检测数据和所述第二待检测数据的残差数据。
  5. 根据权利要求4所述的方法，其特征在于，所述第一预设算法满足：
    Figure PCTCN2022078625-appb-100001
    其中，
    Figure PCTCN2022078625-appb-100002
    为残差数据，ρ i为第i个待检测数据的伪距数据，ρ j为第j个待检测数据的伪距数据，CB i为第i个待检测数据，CB j为第j个待检测数据，μ为预设的数据传输误差。
  6. 根据权利要求4所述的方法，其特征在于，所述第二预设算法满足：
    Figure PCTCN2022078625-appb-100003
    其中，
    Figure PCTCN2022078625-appb-100004
    为残差数据，f i为第i待检测数据的发射频率，f j为第j个待检测数据的发射频率，CB i为第i个待检测数据，CB j为第j个待检测数据。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述残差数据和第一预设阈值确定所述确定每个所述待检测数据的数据状态，包括：
    若所述残差数据小于所述第一预设阈值，则将所述残差数据对应的两个待检测数据的数据状态均确定为所述第二状态；
    若所述残差数据大于或者等于所述第一预设阈值，则计算第一待检测数据与第三待检测数据之间的残差数据，得到第一参考残差数据，并计算第二待检测数据与所述第三待检测数据之间的残差数据，得到第二参考残差数据，其中，所述第三待检测数据的数据状态为第二状态；
    根据所述第一参考残差数据和所述第二参考残差数据确定所述第一待检测数据和所述第二待检测数据的数据状态。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述第一参考残差数据和所述第二参考残差数据确定所述第一待检测数据和所述第二待检测数据的数据状态，包括：
    将所述第一参考残差数据和所述第二参考残差数据分别于所述第一预设阈值进行比较，若所述第一参考残差数据大于或者等于所述第一预设阈值，则将所述第一待检测数据确定为所述第一状态，将所述第二待检测数据确定为所述第二状态；
    若所述第二参考残差数据大于或者等于所述第一预设阈值，则将所述第一待检测数据的数据状态确定为所述第二状态，将所述第二待检测数据的数据状态确定为所述第一状态。
  9. 根据权利要求1所述的方法，其特征在于，所述确定每个待检测数据的数据状态之后，所述方法还包括：
    对所述码偏差数据以及每个码偏差数据对应的数据状态继续编码处理，得到数据包，并将所述数据包发送至终端设备。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    对所述数据包进行解码处理，得到解码后的码偏差数据；
    对解码后的码偏差数据进行检测，并确定每个解码后的码偏差数据的数据状态，并将解码后的码偏差数据以及解码后的码偏差数据的数据状态重新编码后发生至所述终端设备。
  11. 一种导航系统码偏差数据的监测装置，其特征在于，所述装置包括：
    获取模块，用于获取多个伪距数据中每个伪距数据对应的码偏差数据；
    第一确定模块，用于从所述码偏差数据中确定M个异常数据和N个待检测数据，其中，M为大于或等于1的整数，N为大于1的整数，码偏差数据的数量等于(M+N)，并将所述异常数据的数据状态确定为第一状态，所述第一状态用于指示所述码偏差数据为不可用数据；
    计算模块，用于针对所述待检测数据，计算每两个待检测数据之间的残差数据；
    第二确定模块，用于根据所述残差数据和第一预设阈值，确定每个所述待检测数据的数据状态，所述数据状态包括第一状态和第二状态，所述第二状态用于指示所述码偏差数据为可用数据。
  12. 一种服务器，其特征在于，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至10任一项所述的导航系统码偏差数据的监测方法。
  13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至10任一项所述的导航系统码偏差数据的监测方法。
PCT/CN2022/078625 2022-01-05 2022-03-01 导航系统码偏差数据的监测方法、装置、设备及存储介质 WO2023130553A1 (zh)

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