CN110632624A - Method, device, equipment and storage medium for determining quality of observation quantity of satellite - Google Patents
Method, device, equipment and storage medium for determining quality of observation quantity of satellite Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining the quality of an observed quantity of a satellite, wherein the method comprises the following steps: determining a first set of error factors from the set of observations of the reference station and a second set of error factors from the set of observations of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations; determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors; and multiplying the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observation quality of the satellite.
Description
Technical Field
The embodiment of the invention relates to the technical field of satellite navigation, in particular to a method, a device, equipment and a storage medium for determining the quality of an observed quantity of a satellite.
Background
Currently, the quality of the satellite navigation observation is evaluated based on some baseband tracking parameters and the basic situation of the satellite, and these parameters usually take some fixed thresholds as the criteria for selecting whether to use, such as the altitude cut-off angle, the signal strength, and the satellite residual threshold. The satellite is usually directly rejected according to certain thresholds in the selection mode, comprehensive quality evaluation is not performed, the satellite quality cannot be comprehensively reflected, resolving instability is easily caused when a certain satellite swings under a critical condition, and the general thresholds are based on empirical values and are relatively fixed, so that the environment adaptability of the rejection method is general.
Disclosure of Invention
In view of this, embodiments of the present invention desirably provide a method, an apparatus, a device, and a storage medium for determining quality of an observation of a satellite.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a method for determining the quality of an observed quantity of a satellite, which comprises the following steps:
determining a first set of error factors from the set of observations of the reference station and a second set of error factors from the set of observations of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors;
and multiplying the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observation quality of the satellite.
The embodiment of the invention provides a device for determining the quality of an observed quantity of a satellite, which comprises:
a first determination unit configured to determine a first set of error factors from the set of observation measures of the reference station, and a second set of error factors from the set of observation measures of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
a second determining unit configured to determine a corresponding first coefficient for each first error factor in the first set of error factors;
a third determining unit configured to determine a corresponding second coefficient for each second error factor in the second set of error factors;
and the operation unit is configured to multiply a first coefficient of each first error factor and a second coefficient of each second error factor to obtain the observation quality of the satellite.
An embodiment of the present invention provides a device for determining quality of observation of a satellite, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps in the method for determining quality of observation of a satellite according to any one of claims 1 to 7.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps in the method for determining the quality of an observed quantity of a satellite.
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining the quality of an observed quantity of a satellite, wherein the method comprises the following steps: determining a first set of error factors from the set of observation metrics of the reference station and a second set of error factors from the set of observation metrics of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations; determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors; multiplying a first coefficient of each first error factor and a second coefficient of each second error factor to obtain the quality of the observed quantity of the satellite; therefore, information of the reference station and the mobile station is integrated, all observation indexes are quantized, unified judgment is facilitated, the influence of a certain factor on whether the satellite is selected is reduced, strategies such as selecting and weighting the satellite according to the observation quality are achieved, and stability of the algorithm is improved.
Drawings
FIG. 1 is a schematic diagram of a flow chart of an implementation of a data synchronization method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flow chart of implementing a data synchronization method according to another embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an observed quantity quality determination method for satellite navigation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a method for determining quality of observations from a satellite according to another embodiment of the present invention;
FIG. 5A is a schematic view of an implementation process for calculating the observation quality of a satellite according to an embodiment of the present invention;
fig. 5B is a schematic structural diagram illustrating a device for determining quality of observation of a satellite according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware entity of a computer device according to an embodiment of the present invention.
Detailed description of the preferred embodiments
The satellite observation quality-based method of the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
Example one
The embodiment provides a method for determining quality of an observation of a satellite, which is applied to a computer device, and the functions implemented by the method can be implemented by a processor in the computer device calling a program code, of course, the program code can be stored in a computer storage medium, and the computer device at least comprises the processor and the storage medium.
Fig. 1 is a schematic flow chart of an implementation of a data synchronization method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
step S101: determining a first set of error factors from the set of observations of the reference station and a second set of error factors from the set of observations of the mobile station;
here, the observation amount index set of the reference station includes: reference station index 1(BaseFactor1), reference station index 2(BaseFactor2), reference station index 3(BaseFactor3), and the like, reference station key index 1(BaseKeyFactor1), reference station key index 2(BaseKeyFactor2), reference station key index 3(BaseKeyFactor3), and the like. Because some indexes in the observation quantity index set of the reference station have no influence or influence which is very small and can be ignored, some indexes have influence on the observation quantity quality of the satellite, and the influence is large, the indexes having influence on the observation quantity quality of the satellite are determined as a first error factor set. The reference station index 1(BaseFactor1), the reference station key index 1(BaseKeyFactor1) may be determined to be the first error factor aggregate.
The set of observation metrics for the mobile station includes: mobile station key index 1 (rivekeyfactor 1) such as mobile station index 1 (rivefactor 1), mobile station index 2 (rivefactor 2), and mobile station index 3 (rivefactor 3), mobile station key index 2 (rivekeyfactor 2), and mobile station key index 3 (rivekeyfactor 3). Because some indexes in the observation quantity index set of the mobile station have no influence or influence which is very small and negligible with respect to the observation quantity quality of the satellite, some indexes have influence with the observation quantity quality of the satellite, and the influence is large, the indexes having influence with the observation quantity quality of the satellite are determined as a second error factor set. The mobile station index 1(BaseFactor1), the mobile station key index 1(BaseKeyFactor1) may be determined to be the second error factor set for example.
Wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations. For example, the reference station index 1(BaseFactor1), the reference station key index 1(BaseKeyFactor1), the mobile station index 1(BaseFactor1), and the mobile station key index 1(BaseKeyFactor1) share common error factors that affect the quality of the satellite observations.
Step S102: determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors;
for an observation of satellite navigation, each first error factor in the first set of error factors determines a corresponding first coefficient, i.e. for each element in the first set of error factors, since there are many elements in the first set of error factors. Corresponding coefficients, namely a set reference station index 1(BaseFactor1) coefficient and a reference station key index 1(BaseKeyFactor1) coefficient, are determined for the first error factor set reference station index 1(BaseFactor1) and the reference station key index 1(BaseKeyFactor1), and similarly, corresponding coefficients, namely a mobile station index 1(BaseFactor1) coefficient and a mobile station key index 1(BaseKeyFactor1) coefficient, are determined for the first error factor set reference station index 1(BaseFactor1) and the reference station key index 1(BaseKeyFactor 1).
Step S103: and multiplying the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observation quality of the satellite.
In the example in steps S101 and S102, the satellite observation quality (SatQuality) is multiplied by four coefficients, that is, the set of the reference station index 1(BaseFactor1) coefficient, the reference station key index 1(BaseKeyFactor1) coefficient, the mobile station index 1(BaseFactor1) coefficient, and the mobile station key index 1(BaseKeyFactor1) coefficient are sequentially multiplied.
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining the quality of an observed quantity of a satellite, wherein the method comprises the following steps: determining a first set of error factors from the set of observation metrics of the reference station and a second set of error factors from the set of observation metrics of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations; determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors; multiplying a first coefficient of each first error factor and a second coefficient of each second error factor to obtain the quality of the observed quantity of the satellite; therefore, information of the reference station and the mobile station is integrated, all observation indexes are quantized, unified judgment is facilitated, the influence of a certain factor on whether the satellite is selected is reduced, strategies such as selecting and weighting the satellite according to the observation quality are achieved, and stability of the algorithm is improved.
Example two
The present embodiment provides a method for determining quality of an observed quantity of a satellite, and fig. 2 is a schematic diagram of an implementation flow of a data synchronization method according to an embodiment of the present invention, as shown in fig. 2, the method includes:
step S201, acquiring an observation quantity index set of the reference station and an observation quantity index set of the mobile station based on a baseband acquisition tracking satellite observation quantity;
here, the baseband acquisition tracking satellite observation includes: signal strength, tracking time, tracking status indicator, etc. related to the signal itself; satellite ephemeris related, e.g., ephemeris integrity, satellite altitude, etc.; and the resolving intermediate variables are related to pseudo-range residual errors, code-carrying consistency and the like. And correspondingly acquiring an observation quantity index set of the reference station, such as reference station signal strength, reference station tracking time, reference station tracking state index, reference station ephemeris integrity, reference station satellite altitude, pseudo-range residual error, code-carrier consistency and the like, and correspondingly acquiring an observation quantity index set of the mobile station, such as mobile station signal strength, mobile station tracking time, mobile tracking state index, mobile station ephemeris integrity, mobile station satellite altitude, mobile station pseudo-range residual error, mobile station code-carrier consistency and the like.
Step S202, determining a first error factor set from the observation index set of the reference station, and determining a second error factor set from the observation index set of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
there are many observations of satellite navigation that can be used as the basis of indexes, many indexes of baseband acquisition tracking satellite observations are available, and many indexes of the base band processing part for acquiring the reference station and the mobile station are natural, including an index (error index) having an error in the quality of the observations of satellite navigation and an index (general index) having no influence on the quality of the observations of satellite navigation. In order to better integrate various observation indexes and accurately calculate the observation quality of the navigation satellite, it is very necessary to select an index having an error in the observation quality of the satellite navigation, i.e., an error index.
For better description, the signal strength, the pseudo-range residual, the tracking state and the ephemeris integrity are taken as error indexes, the first error factor set determined from the observation index set of the reference station is the signal strength of the reference station, the pseudo-range residual of the reference station, the tracking state of the reference station and the ephemeris integrity of the reference station, and the second error factor set determined from the observation index set of the mobile station is the signal strength of the mobile station, the pseudo-range residual of the mobile station, the tracking state of the mobile station and the ephemeris integrity of the mobile station.
Step S203, determining, for each first error factor in the first error factor set, a corresponding first coefficient according to an index type of each first error factor;
here, step S203 provides a method of implementing the step "determining a corresponding first coefficient for each first error factor in said first set of error factors".
The index types comprise key indexes and interval change indexes, wherein the key indexes can be selected when the indexes are qualified, and the key indexes are directly discarded when the indexes are not qualified. The interval change index means that the index can participate in positioning calculation after reaching a certain numerical value.
Step S204, aiming at each second error factor in the second error factor set, determining a corresponding second coefficient according to the index type of each second error factor;
here, step S204 provides a method implementing the step "determining a corresponding second coefficient for each second error factor in said second set of error factors".
The index types comprise key indexes and interval change indexes, wherein the key indexes can be selected when the indexes are qualified, and the key indexes are directly discarded when the indexes are not qualified. The interval change index means that the index can participate in positioning calculation after reaching a certain numerical value.
Step S205, performing a multiplication operation on the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observed quantity quality of the satellite.
EXAMPLE III
The embodiment provides a method for determining the quality of an observed quantity of a satellite, which comprises the following steps:
step S301, acquiring an observation quantity index set of the reference station and an observation quantity index set of the mobile station based on a baseband acquisition tracking satellite observation quantity;
step S302, determining a first error factor set from the observation index set of the reference station, and determining a second error factor set from the observation index set of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
there are many observations of satellite navigation that can be used as the basis of indexes, many indexes of baseband acquisition tracking satellite observations are available, and many indexes of the base band processing part for acquiring the reference station and the mobile station are natural, including an index (error index) having an error in the quality of the observations of satellite navigation and an index (general index) having no influence on the quality of the observations of satellite navigation. In order to better integrate various observation indexes and accurately calculate the observation quality of the navigation satellite, it is very necessary to select an index having an error in the observation quality of the satellite navigation, i.e., an error index.
For better description, the signal strength CN0, pseudorange residuals pseudorngersidal (prr), tracking state trackstate (ts), ephemeris integrity ephemeris health (eh) are used as error indicators, the first error factor set is determined from the observation indicator set of the reference station as the signal strength of the reference station, the pseudorange residuals of the reference station, the tracking state of the reference station, and ephemeris integrity of the reference station, and the second error factor set is determined from the observation indicator set of the mobile station as the signal strength of the mobile station, the pseudorange residuals of the mobile station, the tracking state of the mobile station, and ephemeris integrity of the mobile station.
Step S303, for each first error factor in the first error factor set, if the index type of the first error factor is a key index, determining that a corresponding first coefficient is 1 or 0; if the index type of the first error factor is an interval change index, determining a corresponding first coefficient according to the value of the first error factor;
here, step S303 in the present embodiment actually provides a method for implementing the step "for each first error factor in the first error factor set, determining the corresponding first coefficient according to the index type of each first error factor".
The key index can be selected when the index is qualified, and can be directly discarded when the index is not qualified. The interval change index refers to that the index can participate in positioning calculation after reaching a certain numerical value.
If the index type of the first error factor is a key index, the index can be set as 1 when the index is qualified, and the index is set as 0 when the index is not qualified.
If the index type of the first error factor is an interval change index, the index can participate in positioning calculation after reaching a certain numerical value, so that a corresponding first coefficient is determined according to the value of the first error factor.
For better description, the tracking state in the key index, the ephemeris integrity and the signal strength in the interval change index, and the pseudorange residual are taken as examples.
The satellite tracking state (TrackState) (TS) belongs to a key index. Generally, for a satellite navigation baseband, if the tracking state does not achieve frame synchronization after a satellite is captured, it can be considered that the accuracy of the current observed quantity of the satellite is not high, the key index can be set to 0 and is not used, otherwise, the index is set to 1.
Ephemeris integrity ephemeris health (eh) also belongs to the key indicator. For the received satellite ephemeris, if the integrity is not qualified, the ephemeris information cannot be correctly analyzed, which indicates that the satellite currently has a problem, the key index may be set to 0, and if the integrity is normal, the index may be set to 1.
The signal strength CN0 and the pseudorange residual pseudorngersidual (prr) belong to the interval variation index. In this case, the value range of SatQuality is set to (0 to 100) in consideration of the whole. Since the pseudo-range residual is considered to be a more important factor in accuracy of the comparison of the two indices of the signal strength and the pseudo-range residual with respect to accuracy, the signal strength range of one satellite of a station is set to (0.5 to 2), and the pseudo-range residual coefficient range is set to (0.5 to 5).
When the key indexes are all 1, the SatQuality is determined by the interval change index, and the key indexes are all 1 and the coefficient ranges (0.5-2), (0.5-5) and (0.5-5) of the interval change index.
For each factor, the coefficient range is (0.5-2), and for a single satellite, the numerical value of CN0 for determining the coefficient distribution is set in an interval (35-48), that is, the index coefficient is 0.5 when the signal strength CN0 is 35 and below, and the index coefficient is 2 when the signal strength is 48 and above, then the fitting is carried out by using a linear equation for the intermediate values:
35*a+b＝0.5
48*a+b＝2 (1-1)；
the result obtained from (1-1) is: a is 0.115 and b is-3.538. Index coefficient meter for signal strength
Calculating an equation: BCNO 0.115 × CNOReceive-3.538 (1-2);
for each factor, the coefficient range is (0.5-5), and for a single satellite, the PRR value determining the coefficient distribution is set in an interval (1-30), that is, the index coefficient is 5 when the pseudo-range residual is 1 or below, and the index coefficient is 0.5 when the pseudo-range residual is 30 or above, and because the pseudo-range residual has a nonlinear characteristic, a quadratic equation is used for the intermediate value to fit:
302*a+35*b+c＝0.5
52*a+5*b+c＝3
a+b+c＝5 (1-3)；
the result obtained from (1-3) is: 0.014 for a, 0.583 for b and 5.569 for c. The index coefficient calculation equation for the pseudorange residuals is:
BPRR＝0.014*PRRCalculate2-0.583*PRRCalculate+5.569 (1-4)；
calculating each subentry index coefficient BCNO, BPRR, PCNO and RPPR by the formulas (1-2) and (1-4).
Step S304, determining, for each second error factor in the second error factor set, that the second coefficient is 1 or 0 if the index type of the second error factor is a key index; if the index type of the second error factor is an interval change index, determining a corresponding second coefficient according to the value of the second error factor;
here, step S304 in the present embodiment actually provides a method for implementing the step "for each second error factor in the second error factor set, determining the corresponding second coefficient according to the index type of each second error factor".
Step S304 in the present embodiment is similar to the process of step S303, and the first error factor is replaced by the second error factor, and the same process as step S303 is performed, and the description thereof is omitted here.
Step S305, performing a multiplication operation on the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the quality of the observed quantity of the satellite.
For better description, the signal strength CN0, pseudorange residual pseudorngersidual (prr), tracking state trackstate (ts), ephemeris integrity ephemeris health (eh) are taken as an example.
The first coefficients of each said first error factor are reference station signal strength (BCN0), reference station pseudorange residual (BPRR), reference station tracking state (BTS), reference station ephemeris integrity (BEH), and the second coefficients of each said second error are mobile station signal strength (RCN0), mobile station pseudorange residual (RPRR), mobile station tracking state (RTS), mobile station ephemeris integrity (REH).
The quality of observation (SatQuality) for the satellite was calculated according to equation (1-5):
SatQuality＝BCNO×RCNO×BPRR×RPRR×BTS×RTS×BEH×REH (1-5)。
example four
The embodiment provides a method for determining the quality of an observed quantity of a satellite, which comprises the following steps:
step S401, acquiring an observation quantity index set of the reference station and an observation quantity index set of the mobile station based on a baseband acquisition tracking satellite observation quantity;
step S402, determining a first error factor set from the observation index set of the reference station, and determining a second error factor set from the observation index set of the mobile station;
wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
there are many observations of satellite navigation that can be used as the basis of indexes, many indexes of baseband acquisition tracking satellite observations are available, and many indexes of the base band processing part for acquiring the reference station and the mobile station are natural, including an index (error index) having an error in the quality of the observations of satellite navigation and an index (general index) having no influence on the quality of the observations of satellite navigation. In order to better integrate various observation indexes and accurately calculate the observation quality of the navigation satellite, it is very necessary to select an index having an error in the observation quality of the satellite navigation, i.e., an error index.
For better description, the signal strength CN0, pseudorange residuals pseudorngersidal (prr), tracking state trackstate (ts), ephemeris integrity ephemeris health (eh) are used as error indicators, the first error factor set is determined from the observation indicator set of the reference station as the signal strength of the reference station, the pseudorange residuals of the reference station, the tracking state of the reference station, and ephemeris integrity of the reference station, and the second error factor set is determined from the observation indicator set of the mobile station as the signal strength of the mobile station, the pseudorange residuals of the mobile station, the tracking state of the mobile station, and ephemeris integrity of the mobile station.
Step S403, for each first error factor in the first error factor set, if the index type of the first error factor is a key index and the value of the first error factor satisfies a corresponding condition, determining that a corresponding first coefficient is 1; if the index type of the first error factor is a key index and the value of the first error factor does not meet the corresponding condition, determining that the corresponding first coefficient is 0;
here, step S403 actually provides a method of implementing the step "if the index type of the first error factor is a key index, determine the corresponding first coefficient to be 1 or 0".
The corresponding condition can be selected when the index is qualified.
And when the value of the first error factor meets the corresponding condition, namely the value of the first error factor meets the qualification requirement, the first error factor can be selected, and the corresponding first coefficient is determined to be 1.
And when the value of the first error factor does not meet the corresponding condition, namely the value of the first error factor does not meet the qualification requirement, the first error factor can be selected, and the corresponding first coefficient is determined to be 0.
Step S404, for each first error factor in the first error factor set, if the index type of the first error factor is an interval change index, determining a corresponding first operation function according to the value of the first error factor; determining a corresponding first coefficient according to the first operation function and the value of the first error factor;
here, step S404 actually provides a method for implementing the step "if the index type of the first error factor is an interval change index, determining a corresponding first coefficient according to the value of the first error factor".
The first operation function may be a fitting equation, or may be other fitting methods. In the following, the signal strength CN0 and the pseudorange residual pseudorngerside (prr) are used as an interval change indicator. In this case, the value range of SatQuality is set to (0 to 100) in consideration of the whole. Since the pseudo-range residual is considered to be a more important factor in accuracy of the comparison of the two indices of the signal strength and the pseudo-range residual with respect to accuracy, the signal strength range of one satellite of a station is set to (0.5 to 2), and the pseudo-range residual coefficient range is set to (0.5 to 5).
For the reference station signal strength (BCN0) and the reference station pseudo-range residual error (BPRR), the coefficient range of each factor is (0.5-2), for a single satellite, the CN0 value of the coefficient distribution is determined, an interval setting (35-48) is carried out, namely the index coefficient is 0.5 when the signal strength CN0 is 35 and below, and the index coefficient is 2 when the signal strength is 48 and above, and then the linear equation (2-1) is used for fitting the intermediate values:
35*a+b＝0.5
48*a+b＝2 (2-1)；
the result obtained from (2-1) is: a is 0.115 and b is-3.538. Then the index coefficient calculation equation for signal strength is see (2-2):
BCNO＝0.115*CNOReceive-3.538 (2-2)；
the coefficient range of each factor is (0.5-5) for the mobile station signal strength (RCN0) and the mobile station pseudo-range residual error (RPRR), and for a single satellite, the PRR value determining the coefficient distribution is set to be (1-30), namely the index coefficient of the pseudo-range residual error is 5 when the pseudo-range residual error is 1 or below, and the index coefficient of the pseudo-range residual error is 0.5 when the pseudo-range residual error is 30 or above, and as the pseudo-range residual error has the nonlinear characteristic, the quadratic equation is used for fitting the specific value in the middle:
302*a+35*b+c＝0.5
52*a+5*b+c＝3
a+b+c＝5 (2-3)；
the result obtained from (2-3) is: 0.014 for a, 0.583 for b and 5.569 for c. The index coefficient calculation equation for the pseudorange residuals is:
BCNO＝0.115*CNOReceive-3.538 (2-4)；
calculating each subentry index coefficient BCNO, BPRR, PCNO and RPPR by the formulas (2-2) and (2-4).
Step S405, for each second error factor in the second error factor set, if the index type of the second error factor is a key index and the value of the second error factor satisfies a corresponding condition, determining that a corresponding second coefficient is 1; if the index type of the second error factor is a key index and the value of the second error factor does not meet the corresponding condition, determining that the corresponding second coefficient is 0;
here, step S405 actually provides a method of implementing the step "for each second error factor in the second set of error factors, if the index type of the second error factor is a key index, determine that the second coefficient is 1 or 0".
The corresponding condition can be selected when the index is qualified.
And when the value of the second error factor meets the corresponding condition, namely the value of the first error factor meets the qualification requirement, the second error factor can be selected, and the corresponding first coefficient is determined to be 1.
And when the value of the second error factor does not meet the corresponding condition, namely the value of the first error factor does not meet the qualification requirement, the second error factor can be selected, and the corresponding first coefficient is determined to be 0.
Step S406, for each second error factor in the second error factor set, if the index type of the second error factor is an interval change index, determining a corresponding second operation function according to the value of the second error factor; determining a corresponding second coefficient according to the second operation function and the value of the second error factor;
here, step S406 actually provides a method for implementing the step "for each second error factor in the second error factor set, if the index type of the second error factor is an interval change index, determining a corresponding second coefficient according to the value of the second error factor".
The second operation function may be a fitting equation or other fitting method.
Step S407, performing multiplication operation on the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observed quantity quality of the satellite.
EXAMPLE five
The most basic condition of high-precision navigation positioning and orientation measurement is satellite observation with considerable precision. It plays a decisive role in the positioning and orientation result with high precision. The traditional high-precision navigation positioning scheme has high cost and can better ensure the precision of observed quantity, however, in equipment based on low cost, conditions influencing the quality of observed quantity such as pseudo range, carrier phase and the like are very complicated. Analysis and selection of satellite observation quality is essential.
The scheme provides a general satellite observation quality evaluation method, which can integrate various observation indexes and quantize the observation indexes, and is more suitable for high-precision positioning navigation requiring comprehensive analysis of a plurality of sites. According to the scheme, a general formula is given firstly, then actual measurement index factors of the navigation observed quantity are explained comprehensively, and finally range determination and coefficient calculation are carried out on each index factor.
The calculation formula of the observation quality of the navigation satellite is as follows:
SatQuality＝BaseFactor1×RoveFactor1×BaseFactor2×RoveFactor2×...
×BaseKeyFactor1×RoveKeyFactor1×BaseKeyFactor2×RoveKeyFactor2×...
(3-1)；
the meaning of each term in the formula (3-1) is as follows: SatQuality denotes satellite observation quality, BaseFactor1 denotes reference station index 1, RoveFactor1 denotes mobile station index 1, BaseKeyFactor1 denotes reference station key index 1, and RoveKeyFactor1 denotes mobile station key index 1. The first ellipses indicate reference station index 2, mobile station index 2, reference station index 3, mobile station index 3, etc., and the second ellipses indicate reference station key index 2, mobile station key index 2, reference station key index 3, mobile station key index 3, etc.
For the observed quantity of satellite navigation, there are many bases which can be used as index factors, such as signal strength, tracking time, tracking state indexes and the like related to the signal itself; satellite ephemeris related, e.g., ephemeris integrity, satellite altitude, etc.; and the resolving intermediate variables are related to pseudo-range residual errors, code-carrying consistency and the like.
All the index factors can be divided into two categories of interval variation indexes and key indexes. The interval change index refers to that the index can participate in positioning calculation after reaching a certain numerical value, but the quality of the index is correspondingly judged according to the numerical value, such as signal intensity, pseudo-range residual error and the like; the key indexes can be selected when the indexes are qualified, and can be directly discarded when the indexes are not qualified, such as tracking states, ephemeris integrity and the like. The range determination and coefficient calculation are performed for each index factor using these four indexes as an example.
The satellite tracking state (TrackState) (TS) belongs to a key index. Generally, for a satellite navigation baseband, if the tracking state does not achieve frame synchronization after a satellite is captured, it can be considered that the accuracy of the current observed quantity of the satellite is not high, the key index can be set to 0 and is not used, otherwise, the index is set to 1.
Ephemeris integrity ephemeris health (eh) also belongs to the key indicator. For the received satellite ephemeris, if the integrity is not qualified, the ephemeris information cannot be correctly analyzed, which indicates that the satellite currently has a problem, the key index may be set to 0, and if the integrity is normal, the index may be set to 1.
The signal strength CN0 and the pseudorange residual pseudorngersidual (prr) belong to the interval variation index. In this case, the value range of SatQuality is set to (0 to 100) in consideration of the whole. In terms of the accuracy of the contribution of the two indexes, namely the signal intensity and the pseudo-range residual, to the precision, the pseudo-range residual is considered to have a more important weight, so that the signal-to-noise ratio coefficient range of a certain satellite of a certain site is set to be (0.5-2), and the pseudo-range residual coefficient range is set to be (0.5-5), so that the SatQuality formula (3-1) is as follows:
SatQuality＝BCNO×RCNO×BPRR×RPRR×BTS×RTS×BEH×REH (3-2)；
for the key indicators BTS, RTS, BEH, REH, whichever is 0, SatQuality is directly set to 0, i.e. the satellite is not available, which also integrates the information of the reference station and the mobile station for high accuracy positioning. When the key indexes are all 1, the SatQuality is determined by interval change indexes BCN0, RCN0, BPRR and RPRR, and the value range of the SatQuality obtained by the formula (3-2) is (0.0625-100).
The coefficient range of each factor for BCN0, RCN0 is (0.5 ~ 2), and the CN0 value determining the coefficient distribution for a single satellite is set in an interval (35 ~ 48), that is, the index coefficient is 0.5 when the signal intensity CN0 is 35 and below, and the index coefficient is 2 when the signal intensity is 48 and above, then the fitting is performed by using a linear equation for the intermediate values:
35*a+b＝0.5
48*a+b＝2 (3-3)；
the result obtained from (3-3) is: a is 0.115 and b is-3.538. The index coefficient calculation equation for signal strength is then:
BCNO＝0.115*CNOReceive-3.538 (3-4)；
the coefficient range of each factor is (0.5-5) for BPRR and RPRR, and the PRR value determining the coefficient distribution for a single satellite is set in an interval (1-30), that is, the index coefficient is 5 when the pseudo-range residual is 1 or below, the index coefficient is 0.5 when the pseudo-range residual is 30 or above, and the fitting is carried out by using a quadratic equation for the intermediate value because the pseudo-range residual has the nonlinear characteristic:
302*a+35*b+c＝0.5
52*a+5*b+c＝3
a+b+c＝5 (3-5)；
the result obtained from (3-5) is: 0.014 for a, 0.583 for b and 5.569 for c. The index coefficient calculation equation for the pseudorange residuals is:
BPRR＝0.014*PRRCalculate2-0.583*PRRCalculate+5.569 (3-6)；
the satellite observation quality SatQuality can be calculated by firstly calculating each subentry index coefficient according to the formulas (3-4) and (3-6) and then bringing the subentry index coefficient into the formula (3-2).
By combining the processes, a more general satellite observation quality calculation process can be abstracted, and the process is put into high-precision calculation. Fig. 5A is a schematic view of a process for calculating the observation quality of a satellite according to an embodiment of the present invention, and as shown in fig. 5A, the process includes:
step S501, a baseband captures and tracks the observation quantity of a satellite;
step S502, collecting the observed quantity of the reference station;
here, acquiring an observation index set of the reference station based on a baseband acquisition tracking satellite observation;
step S503, receiving the observed quantity of the mobile station;
here, acquiring an observation index set of the mobile station based on a baseband acquisition tracking satellite observation;
step S504, selecting an error factor of the observed quantity;
here, a first set of error factors is determined from the set of observation metrics of the reference station, and a second set of error factors is determined from the set of observation metrics of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
step S505, calculating a coefficient of an observation error factor;
here, a corresponding first coefficient is determined for each first error factor in the first set of error factors, and a corresponding second coefficient is determined for each second error factor in the second set of error factors;
step S506, calculating the quality of the observed quantity of the satellite;
multiplying a first coefficient of each first error factor and a second coefficient of each second error factor to obtain the quality of the observed quantity of the satellite;
and step S507, selecting the observed quantity.
The flow and the formula (3-1) can show that the method is not limited to the error factors mentioned in the article to determine the final observation quality, the user can completely expand the error factors required by the user, and meanwhile, other fitting modes can be completely adopted for interval error factors. The method is a universal method and has good expansibility.
In the embodiment of the invention, the general formula for calculating the satellite observation quality has good expansibility; the method for selecting the actual measurement index factors of the navigation observed quantity and the determination of the interval range thereof are particularly used for selecting the index factors of two high-precision stations; the fitting calculation mode for the observed quality indicator factor can give a quantified quality indicator.
Compared with the prior art, the embodiment has the following technical advantages: the general satellite observation quality evaluation method can integrate various observation indexes and quantize the observation indexes, and is more suitable for high-precision positioning navigation needing comprehensive analysis of a plurality of sites. The method is not limited to the error factors mentioned in the article to determine the final observation quality, and a user can completely expand the error factors required by the user, and meanwhile, other fitting modes can be completely adopted for interval error factors. The method is a universal method and has good expansibility.
Based on the foregoing embodiments, an embodiment of the present invention provides an apparatus for determining quality of an observation of a satellite, where the apparatus includes units, modules included in the units, and sub-modules included in the modules, and the sub-modules may be implemented by a processor in a computer device; of course, may be implemented by logic circuits; in implementation, the processor may be a Central Processing Unit (CPU), a Microprocessor (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
Fig. 5B is a schematic structural diagram of a device for determining quality of observation of a satellite according to an embodiment of the present invention, and as shown in fig. 5B, the device 500 includes:
a first determination unit 501 configured to determine a first set of error factors from the set of observation measures of the reference station and a second set of error factors from the set of observation measures of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
a second determining unit 502 configured to determine a corresponding first coefficient for each first error factor in the first set of error factors;
a third determining unit 503 configured to determine a corresponding second coefficient for each second error factor in the second set of error factors;
an operation unit 504 configured to multiply a first coefficient of each of the first error factors and a second coefficient of each of the second errors to obtain an observed quantity quality of the satellite.
In other embodiments, the second determining unit is configured to determine the corresponding first coefficient according to at least the index type of each first error factor;
the third determining unit is configured to determine the corresponding second coefficient according to at least the index type of each second error factor.
In other embodiments, the indicator type of the error factor includes an interval variation indicator and a key indicator, and the second configuration unit includes:
a first determining module configured to determine that the corresponding first coefficient is 1 or 0 if the index type of the first error factor is a key index;
and the second determining module is configured to determine a corresponding first coefficient according to the value of the first error factor if the index type of the first error factor is an interval change index.
In other embodiments, the third determining unit includes: a third determination module configured to determine that the second coefficient is 1 or 0 if the indicator type of the second error factor is a key indicator; and the fourth determining module is configured to determine a corresponding second coefficient according to the value of the second error factor if the index type of the second error factor is an interval change index.
In other embodiments, the first determining module includes: the first determining submodule is configured to determine that a corresponding first coefficient is 1 if the index type of the first error factor is a key index and the value of the first error factor meets a corresponding condition; and the second determining submodule is configured to determine that the corresponding first coefficient is 0 if the index type of the first error factor is a key index and the value of the first error factor does not meet the corresponding condition.
In other embodiments, the second determining module comprises: a third determining submodule configured to determine a corresponding first operation function according to a value of the first error factor if the index type of the first error factor is an interval change index; and the fourth determining submodule is configured to determine a corresponding first coefficient according to the first operation function and the value of the first error factor.
In other embodiments, the third determining module comprises: a fifth determining submodule configured to determine that a corresponding second coefficient is 1 if the index type of the second error factor is a key index and the value of the second error factor satisfies a corresponding condition; and the sixth determining submodule is configured to determine that the corresponding second coefficient is 0 if the index type of the second error factor is a key index and the value of the second error factor does not meet the corresponding condition.
In other embodiments, the fourth determining module comprises: a seventh determining submodule configured to determine a corresponding second operation function according to a value of the second error factor if the index type of the second error factor is an interval change index; an eighth determining submodule configured to determine a corresponding second coefficient according to the second operation function and the value of the second error factor
In other embodiments, the apparatus further comprises: an acquisition unit configured to acquire an observation quantity index set of the reference station and an observation quantity index set of the mobile station based on a baseband acquisition tracking satellite observation quantity.
In other embodiments, the common error factor includes a satellite tracking state, ephemeris integrity, signal strength, and pseudorange residuals, wherein an indicator type of the satellite tracking state and an indicator type of the ephemeris integrity belong to the key indicators, and an indicator type of the signal strength and an indicator type of the pseudorange residuals belong to the range change indicator.
The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.
It should be noted that, in the embodiment of the present invention, if the above method for determining the quality of the observed quantity of the satellite is implemented in the form of a software functional module, and is sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.
Correspondingly, an embodiment of the present invention provides a device for determining quality of observation of a satellite, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps in the method for determining quality of observation of a satellite provided by the above embodiment when executing the program.
Accordingly, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps in the method for determining the quality of an observation of a satellite provided by the above embodiments.
Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.
It should be noted that fig. 6 is a schematic diagram of a hardware entity of a computer device in an embodiment of the present invention, and as shown in fig. 6, the hardware entity of the computer device 600 includes: a processor 601, a communication interface 602, and a memory 603, wherein
The processor 601 generally controls the overall operation of the computer device 600.
The communication interface 602 may enable the computer device to communicate with other terminals or servers via a network.
The memory 603 is configured to store instructions and applications executable by the processor 601, and may also buffer data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or already processed by the processor 601 and modules in the computer apparatus 600, and may be implemented by a FLASH memory (FLASH) or a Random Access Memory (RAM).
In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus can be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the communication connections between the components shown or discussed may be through interfaces, indirect couplings or communication connections of devices or units, and may be electrical, mechanical or other.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated unit according to the embodiment of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The method, apparatus, and computer storage medium for determining the quality of a satellite observation described in the examples of the invention are illustrative only, and are not intended to be limiting, as long as the method, apparatus, and computer storage medium for determining the quality of a satellite observation are within the scope of the invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method for determining quality of observations from satellites, the method comprising:
determining a first set of error factors from the set of observations of the reference station and a second set of error factors from the set of observations of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors;
and multiplying the first coefficient of each first error factor and the second coefficient of each second error factor to obtain the observation quality of the satellite.
2. The method of claim 1, wherein determining a corresponding first coefficient for each first error factor in the first set of error factors and a corresponding second coefficient for each second error factor in the second set of error factors comprises:
determining a corresponding first coefficient according to at least the index type of each first error factor;
and determining the corresponding second coefficient according to at least the index type of each second error factor.
3. The method of claim 2, wherein the indicator types of the error factors include an interval variation indicator and a key indicator, and wherein determining the corresponding first coefficient according to at least the indicator type of each first error factor comprises:
if the index type of the first error factor is a key index, determining that a corresponding first coefficient is 1 or 0;
and if the index type of the first error factor is an interval change index, determining a corresponding first coefficient according to the value of the first error factor.
4. The method of claim 3, wherein determining the corresponding first coefficient to be 1 or 0 if the indicator type of the first error factor is a key indicator comprises:
if the index type of the first error factor is a key index and the value of the first error factor meets the corresponding condition, determining that the corresponding first coefficient is 1;
and if the index type of the first error factor is a key index and the value of the first error factor does not meet the corresponding condition, determining that the corresponding first coefficient is 0.
5. The method of claim 3, wherein if the indicator type of the first error factor is an interval change indicator, determining a corresponding first coefficient according to a value of the first error factor comprises:
if the index type of the first error factor is an interval change index, determining a corresponding first operation function according to the value of the first error factor;
and determining a corresponding first coefficient according to the first operation function and the value of the first error factor.
6. The method according to any one of claims 1 to 5, further comprising:
and acquiring an observation index set of the reference station and an observation index set of the mobile station based on the base band acquisition tracking satellite observation.
7. The method according to any one of claims 1 to 5, wherein the common error factors comprise satellite tracking state, ephemeris integrity, signal strength and pseudorange residuals, wherein the index type of the satellite tracking state and the index type of the ephemeris integrity belong to a key index, and the index type of the signal strength and the index type of the pseudorange residuals belong to an interval variation index.
8. An apparatus for determining quality of observations from satellites, the apparatus comprising:
a first determination unit configured to determine a first set of error factors from the set of observation measures of the reference station, and a second set of error factors from the set of observation measures of the mobile station; wherein the first set of error factors and the second set of error factors are combined to have a common error factor that can affect the quality of the satellite observations;
a second determining unit configured to determine a corresponding first coefficient for each first error factor in the first set of error factors;
a third determining unit configured to determine a corresponding second coefficient for each second error factor in the second set of error factors;
and the operation unit is configured to multiply a first coefficient of each first error factor and a second coefficient of each second error factor to obtain the observation quality of the satellite.
9. Apparatus for determining the quality of an observation of a satellite, comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor when executing the program performs the steps in the method for determining the quality of an observation of a satellite according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for determining the quality of an observation for a satellite according to any one of claims 1 to 7.
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