CN116125495B - Ionosphere correction determination method, ionosphere correction determination device, ionosphere correction determination storage medium, and ionosphere correction determination program product - Google Patents
Ionosphere correction determination method, ionosphere correction determination device, ionosphere correction determination storage medium, and ionosphere correction determination program product Download PDFInfo
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- 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
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- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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Abstract
The embodiment of the application provides a method, equipment, a storage medium and a program product for determining ionospheric corrections, wherein the method comprises the steps of obtaining position information of an mobile station, determining ionospheric corrections respectively corresponding to a plurality of baselines in a reference station network corresponding to the mobile station according to the position information, inputting the ionospheric corrections respectively corresponding to the baselines into an ionospheric model, calculating to obtain model coefficients of the ionospheric model, constructing the ionospheric model based on a low-order surface fitting algorithm, and determining the ionospheric corrections corresponding to the mobile station according to the model coefficients and the ionospheric model. The method for determining the ionosphere correction can calculate the ionosphere correction of the mobile station more accurately, reduces the dependence on the baseline fixing accuracy of a single baseline, and improves the positioning effect.
Description
Technical Field
The embodiment of the application relates to the technical field of satellite positioning, in particular to a method, equipment, a storage medium and a program product for determining ionosphere correction.
Background
The virtual reference station (Virtual Reference Station, VRS) is a network real-time dynamic differential (real-TIME KINEMATIC, RTK) positioning system technology integrating Internet technology, wireless communication technology, computer network management technology and GNSS technology. Based on VRS, in the whole resolving process, an ionosphere model can be built to build a virtual reference station, namely a mobile station, obtain ionosphere correction of the mobile station, and realize real-time RTK.
The ionosphere model is usually built by adopting a triangular network linear combination model or a triangular network linear interpolation model, the baseline correction of baseline solution is substituted into the ionosphere model, and the ionosphere correction of the mobile station is solved.
However, in implementing the present application, the inventors found that at least the following problems exist in the prior art: in the above manner, the accuracy of ionospheric corrections of the rover is excessively dependent on the accuracy of baseline corrections of two baselines of the triangulated mesh obtained by the baseline calculation. The accuracy of the ionospheric corrections of the rover station is severely affected when errors occur in the baseline corrections, affecting the positioning effect of the rover station.
Disclosure of Invention
Embodiments of the present application provide a method, apparatus, storage medium, and program product for determining an ionospheric correction to improve the rationality of an ionospheric model and the accuracy of the ionospheric correction of a rover.
In a first aspect, an embodiment of the present application provides a method for determining ionospheric corrections, including:
acquiring position information of a mobile station;
According to the position information, determining ionospheric corrections corresponding to a plurality of baselines in a reference station network corresponding to the mobile station respectively;
Inputting the ionospheric corrections corresponding to the baselines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm;
And determining the ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model.
In one possible design, the determining, according to the location information, ionospheric corrections corresponding to a plurality of baselines in a reference station network corresponding to the mobile station, includes:
determining a reference station networking corresponding to the mobile station according to the position information;
obtaining observation data corresponding to the networking of the reference station;
And respectively carrying out baseline calculation on a plurality of baselines of the reference station networking according to the observation data to obtain ionosphere corrections respectively corresponding to the baselines.
In one possible design, the determining, according to the location information, a reference station networking corresponding to the mobile station includes:
determining a reference station having a smallest distance from the rover station among a plurality of reference stations as a master station based on the position information;
determining at least three reference stations adjacent to the main reference station as auxiliary reference stations according to the position information of the main reference station;
And determining the primary reference station and the plurality of auxiliary reference stations as reference station networking corresponding to the mobile station.
In one possible design, the determining, according to the position information of the primary reference station, each of at least three reference stations adjacent to the primary reference station as secondary reference stations includes:
And determining an adjacent reference station with the distance smaller than or equal to a preset distance from the main reference station as an auxiliary reference station according to the position information of the main reference station.
In one possible design, the calculating the base lines of the base station network according to the observed data to obtain ionospheric corrections corresponding to the base lines respectively includes:
starting to respectively perform baseline calculation on a plurality of baselines of the reference station networking according to the observation data, and performing calculation duration timing;
if the resolving time length is longer than the preset time length and the fixed rate corresponding to the baselines does not reach the preset fixed rate, respectively resolving the baselines of the networking of the reference station according to the observation data until the resolving time length is shorter than or equal to the preset time length and the fixed rate corresponding to the baselines reaches the preset fixed rate, and obtaining ionosphere corrections corresponding to the baselines respectively.
In one possible design, the calculating the base lines of the base station network according to the observed data to obtain ionospheric corrections corresponding to the base lines respectively includes:
For each baseline in the baseline networking, determining a widelane ambiguity fixed solution corresponding to the baseline based on an MW combination algorithm according to observation data corresponding to the baseline;
And determining the floating solution ambiguity of the narrow lane N1 according to the fixed number of the wide lane ambiguities corresponding to the base line, and performing Lambda solution according to the floating solution ambiguity and the ionosphere ambiguity covariance matrix to obtain the ionosphere correction corresponding to the base line.
In one possible design, the inputting the ionospheric corrections corresponding to the plurality of baselines into an ionospheric model, and resolving to obtain model coefficients of the ionospheric model, including:
based on a low-order surface fitting algorithm, constructing an ionosphere model according to the networking of the reference station; the ionosphere model is related to the model coefficient, the longitude and latitude of the reference station corresponding to the base line and the ionosphere correction corresponding to the base line;
based on a least square method, obtaining model coefficients of the ionosphere model according to ionosphere correction solutions respectively corresponding to a plurality of base lines;
The determining the ionospheric correction corresponding to the mobile station according to the model coefficient and the ionospheric model comprises the following steps:
Based on the ionosphere model, determining ionosphere correction corresponding to the mobile station according to the model coefficient and longitude and latitude of the mobile station.
In one possible design, the inputting the ionospheric corrections corresponding to the plurality of baselines into an ionospheric model, and resolving to obtain model coefficients of the ionospheric model, including:
correcting the ionospheric corrections corresponding to the baselines respectively to obtain corrected ionospheric corrections;
And inputting the corrected ionospheric correction into an ionospheric model to obtain model coefficients of the ionospheric model.
In one possible design, the correcting the ionospheric corrections corresponding to the plurality of baselines respectively to obtain corrected ionospheric corrections includes:
Calculating a difference value between a epoch value of a current epoch and an epoch value of a previous epoch for each epoch in the ionosphere correction corresponding to each baseline based on the time sequence of the epochs, and if the difference value is greater than or equal to a preset value, transmitting the epoch value of the previous epoch to the epoch value of the current epoch;
And determining the corrected ionosphere correction according to the epoch values of a plurality of epochs in the ionosphere corrections respectively corresponding to the baselines.
In one possible design, the correcting the ionospheric corrections corresponding to the plurality of baselines respectively to obtain corrected ionospheric corrections includes:
determining a plurality of closed loops from a plurality of the baselines; the closed loop includes a plurality of baselines connected end to end;
Calculating, for each closed loop, a vector sum of ionospheric corrections for each baseline in the closed loop;
For each baseline, assigning weights to the baselines based on vector sums of a plurality of closed loops corresponding to the baselines, and determining corrected ionospheric corrections corresponding to the baselines according to the weights;
and determining the corrected ionospheric corrections corresponding to the plurality of baselines as corrected ionospheric corrections.
In a second aspect, an embodiment of the present application provides an ionospheric correction determining apparatus, including:
The acquisition module is used for acquiring the position information of the mobile station;
the networking module is used for determining ionospheric corrections corresponding to a plurality of baselines in the reference station networking corresponding to the mobile station according to the position information;
The calculation module is used for inputting the ionospheric corrections corresponding to the baselines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm;
And the processing module is used for determining the ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model.
In a third aspect, an embodiment of the present application provides an ionospheric correction determining apparatus, including: at least one processor and memory;
the memory stores computer-executable instructions;
The at least one processor executes the computer-executable instructions stored by the memory such that the at least one processor performs the method as described above in the first aspect and the various possible designs of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, implement the method as described in the first aspect and the various possible designs of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the method as described above for the first aspect and the various possible designs of the first aspect.
The method includes the steps of obtaining position information of an mobile station, determining ionospheric corrections respectively corresponding to a plurality of base lines in a reference station network corresponding to the mobile station according to the position information, inputting the ionospheric corrections respectively corresponding to the base lines into an ionospheric model, calculating to obtain model coefficients of the ionospheric model, constructing the ionospheric model based on a low-order surface fitting algorithm, and determining the ionospheric corrections corresponding to the mobile station according to the model coefficients and the ionospheric model. According to the method for determining the ionospheric corrections, provided by the embodiment of the application, the characteristics of the ionospheric delay errors such as dispersion, distance correlation and the like are considered, the spatial distribution and disturbance existence rules are considered, the modeling of the ionospheric model is carried out according to a low-order surface fitting algorithm, the spatial correlation of the ionospheric delay errors can be approximated, the rationality of the model is improved, on the basis, the ionospheric corrections of a plurality of baselines are input into the ionospheric model, the ionospheric corrections of a more accurate mobile station can be calculated, the dependence on the baseline fixing correctness of a single baseline is reduced, and the positioning effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1a is a diagram of an application scenario of a method for determining ionospheric corrections according to an embodiment of the present application;
FIG. 1b is a schematic diagram of a triangle network networking method in the related art;
FIG. 2 is a flowchart illustrating a method for determining ionospheric corrections according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a reference station networking according to an embodiment of the present application;
FIG. 4 is a second flowchart of a method for determining ionospheric corrections according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of an ionospheric correction determining device according to an embodiment of the present application;
FIG. 6 is a schematic hardware structure of an ionospheric correction determining device according to an embodiment of the present application;
FIG. 7 is a schematic diagram showing the comparison of the effects of a triangle mesh model and a new model of a low-order surface fitting according to an embodiment of the present application;
FIG. 8 is a schematic diagram II showing the comparison of the effects of a triangle mesh model and a new model of a low-order surface fitting according to an embodiment of the present application;
FIG. 9 is a third schematic diagram showing the comparison of the effects of a triangle mesh model and a new model of a low-order surface fitting according to an embodiment of the present application;
fig. 10 is a schematic diagram showing the comparison between the effects of the triangle mesh model and the new model of the low-order surface fitting according to the embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The virtual reference station (Virtual Reference Station, abbreviated as VRS) is a network real-time dynamic differential (real-TIME KINEMATIC, abbreviated as RTK) positioning system technology integrating Internet technology, wireless communication technology, computer network management technology and GNSS technology. Fig. 1a is an application scenario diagram of a method for determining ionospheric corrections according to an embodiment of the present application. As shown in fig. 1a, the VRS system includes a reference site network, a data processing center 101, and a terminal device 102. The network of reference stations includes a plurality of reference stations 103 for acquiring observation data and transmitting the observation data to a data processing center. The data processing center is used for carrying out baseline resolving among the reference stations according to the observation data, carrying out overall modeling resolving based on a baseline resolving result, further establishing a virtual reference station (namely a corresponding mobile station at a user) for the terminal equipment, realizing real-time RTK and providing navigation positioning service for the terminal equipment.
In a specific implementation process, the data processing center 101 may continuously perform baseline calculation according to real-time observation data collected by each reference station 103, and further perform overall modeling calculation in an area based on a result of the baseline calculation, and generate a Virtual Reference Station (VRS) that does not exist physically near the mobile station (terminal device 102) by establishing an error model (such as an ionosphere error model), and since the position of the virtual reference station is determined by a single-point positioning solution of a mobile station receiver, a baseline formed by the virtual reference station and the mobile station is usually only several meters to tens of meters, and the mobile station and the virtual reference station perform carrier phase difference correction to implement real-time RTK.
Fig. 1b is a schematic diagram of a triangle network networking mode in the related art. As shown in fig. 1b, the triangular network comprises a main reference station, a secondary reference station 1 and a secondary reference station 2. In the related art, in the real-time RTK positioning process, a triangle network is generally used to set up an ionosphere model based on a triangle network, a triangle network linear combination model (Linear Combination Model, LCM) or a triangle network linear interpolation model (Linear Interpolation Model, LIM), based on the ionosphere model, two baselines (a first baseline between a main reference station and an auxiliary reference station 1 and a second baseline between the main reference station and the auxiliary reference station 2) in the triangle network are solved, baseline corrections of the two baselines are extracted, and then the ionosphere correction of the mobile station can be obtained through interpolation.
In order to solve the technical problems, the inventor of the application researches and discovers that the ionospheric delay error has the characteristics of dispersion, distance correlation and the like, and the spatial distribution and disturbance of the ionospheric delay error are regular, so that the spatial correlation of the ionospheric delay error is approximated by carrying out regional ionospheric modeling through a low-order curved surface fitting method, the rationality of the model is improved, and on the basis, the ionospheric corrections of a plurality of baselines are input into the ionospheric model, so that the ionospheric correction of a more accurate mobile station can be calculated, the dependence on the baseline fixing correctness of a single baseline is reduced, and the positioning effect is improved. Based on the above, the embodiment of the application provides a method for determining ionospheric corrections.
Based on the application scenario shown in fig. 1a, in the process of determining the ionospheric corrections of the rover, the data processing center 101 may acquire the position information of the rover; according to the position information, determining ionosphere corrections corresponding to a plurality of baselines in the reference station networking corresponding to the mobile station respectively; inputting ionospheric corrections corresponding to the plurality of base lines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm; and determining the ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model.
According to the method for determining the ionospheric corrections, provided by the embodiment of the application, based on the characteristics of the ionospheric delay errors, such as dispersion, distance correlation and the like, and the spatial distribution and disturbance existence rules, the spatial correlation of the ionospheric delay errors is approximated by carrying out regional ionospheric modeling through a low-order curved surface fitting method, so that the rationality of the model is improved, and on the basis, the ionospheric corrections of a plurality of baselines are input into the ionospheric model, so that the ionospheric corrections of a more accurate mobile station can be calculated, the dependence on the baseline fixing correctness of a single baseline is reduced, and the positioning effect is improved.
It should be noted that, the schematic view of the scenario shown in fig. 1a is only an example, and the ionospheric corrections and scenarios described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and those skilled in the art can know that, with the evolution of the system and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
The technical scheme of the application is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 2 is a flowchart illustrating a method for determining ionospheric corrections according to an embodiment of the present application.
As shown in fig. 2, the method includes:
201. position information of the rover is acquired.
The execution subject of the present embodiment may be a terminal or a server with computing capabilities, for example, a data processing center as shown in fig. 1 a.
Specifically, the user sends a positioning request to the data processing center through the mobile station such as the mobile phone, wherein the positioning request comprises the position of the user, and the data processing center is based on the position information of the mobile station, namely the virtual reference station, of the position of the user.
For example, a plurality of subnets may be pre-established, wherein each subnet includes a plurality of grids, different subnets may have different subnet identification IDs, and different grids may have different grid IDs. The subnet identification ID and the grid ID corresponding to the user location can be determined from a plurality of preset subnets based on the user location, so that the location information of the mobile station, namely the virtual reference station, is obtained.
202. And determining ionospheric corrections corresponding to a plurality of baselines in the reference station networking corresponding to the mobile station according to the position information.
In some embodiments, determining ionospheric corrections corresponding to a plurality of baselines in a reference station network corresponding to the rover, respectively, based on the location information may include: determining a reference station networking corresponding to the mobile station according to the position information; obtaining observation data corresponding to networking of a reference station; and respectively carrying out baseline calculation on a plurality of baselines of the reference station networking according to the observation data, and obtaining ionosphere corrections respectively corresponding to the baselines.
In some embodiments, determining the reference station network corresponding to the mobile station according to the location information may include: determining a reference station having a smallest distance from the rover station among the plurality of reference stations as a master station based on the position information; determining at least three reference stations adjacent to the main reference station as auxiliary reference stations according to the position information of the main reference station; and determining the primary reference station and the plurality of auxiliary reference stations as reference stations corresponding to the mobile stations to be networked.
In some embodiments, determining each of at least three reference base stations adjacent to the primary base station as a secondary base station based on the location information of the primary base station may include: and determining an adjacent reference station with a distance smaller than or equal to a preset distance from the main reference station as an auxiliary reference station according to the position information of the main reference station.
Specifically, the coordinates of the reference station need to be updated and stored due to antenna changes, environmental changes, and the like. In order to ensure the calculation accuracy, the latest position coordinates of each reference station updated in the database can be acquired before the algorithm starts, the main reference station in the reference station networking used by VRS modeling can be determined according to the position of the user, specifically, the main reference station can be determined based on a nearest distance method, namely, the reference station with the nearest geometric distance between all the reference stations in the network type and the position of the user is determined as the main reference station, and then each auxiliary station adjacent to the main station is searched according to the shortest distance principle, so that the reference station networking is determined. For example, a reference station adjacent to the main reference station may be selected as the auxiliary reference station among all reference stations in the network. In order to reduce the calculation amount, adjacent reference stations can be screened, and the reference station with the distance smaller than the preset distance from the main reference station in the adjacent reference stations is selected as the auxiliary reference station.
In some embodiments, according to the observation data, respectively performing baseline calculation on a plurality of baselines of the reference station network to obtain ionospheric corrections corresponding to the baselines respectively, which may include: starting to respectively perform baseline calculation on a plurality of baselines of the reference station networking according to the observation data, and performing calculation duration timing; if the resolving time length is longer than the preset time length and the fixed rate corresponding to the baselines does not reach the preset fixed rate, respectively resolving the baselines of the networking of the reference station according to the observation data until the resolving time length is shorter than or equal to the preset time length and the fixed rate corresponding to the baselines reaches the preset fixed rate, and obtaining ionosphere correction numbers corresponding to the baselines respectively.
Specifically, the observation data of each reference station in the reference station networking may be obtained from the preprocessing module to perform baseline calculation, as shown in fig. 3, 6 baselines connected to the main reference station (baselines between the main reference station and the auxiliary reference stations 1 to 6 respectively) need to be calculated, and in order to ensure the accuracy of the baseline calculation result, the observation data of the main reference station and the observation data of the other 6 auxiliary reference stations may be aligned in strict epoch to perform baseline calculation.
After waiting for the baseline solution fixed rate to be stable (the fixed rate to be stable may be that the fixed rate reaches 100%), a time threshold may be given (for example, 150s from the start of the solution to the state of reaching the stable solution fixed rate, if the state of still not reaching the stable solution fixed rate after 150s, the solution may be restarted, and by ensuring that most satellites are normally fixed, the data input of the subsequent ionosphere modeling can be enabled to meet the minimum observation data requirement of the model).
In some embodiments, according to the observation data, respectively performing baseline calculation on a plurality of baselines of the reference station network to obtain ionospheric corrections corresponding to the baselines respectively, which may include: for each baseline in the baseline networking, determining a wide lane ambiguity fixed solution corresponding to the baseline based on the MW combination algorithm according to the observation data corresponding to the baseline; and determining the floating solution ambiguity of the narrow lane N1 according to the fixed number of the wide lane ambiguity corresponding to the base line, and performing Lambda solution according to the floating solution ambiguity and the ionosphere ambiguity covariance matrix to obtain the ionosphere correction corresponding to the base line.
Specifically, a baseline solution is performed on each baseline in the baseline networking, and a double-difference ambiguity and a double-difference ionosphere correction on each satellite of each baseline are calculated, wherein key steps of the baseline solution may include:
MW combining calculation Wide roadway: double-difference wide-lane ambiguity is mainly influenced by pseudo-range noise and pseudo-range multipath effects, weakening is carried out in a multi-epoch smoothing mode under the condition that cycle slip does not occur, and then a correct wide-lane ambiguity fixed solution is obtained.
LC combination calculation ionospheric ambiguity: because the double-difference ionosphere ambiguity does not have integer characteristics and cannot be directly fixed by utilizing a Lambda algorithm, the floating point ambiguity of the narrow lane N1 can be obtained by utilizing the wide lane solution obtained by MW combination, and then the double-difference ambiguity and the double-difference ionosphere correction on the base line can be obtained by utilizing the floating point ambiguity of the narrow lane N1 and the ionosphere ambiguity covariance matrix.
203. Inputting ionospheric corrections corresponding to the plurality of base lines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm.
204. And determining the ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model.
In some embodiments, inputting the ionospheric corrections corresponding to the plurality of baselines into the ionospheric model, and obtaining the model coefficients of the ionospheric model by resolving the model coefficients may include: based on a low-order surface fitting algorithm, constructing an ionosphere model according to the networking of the reference station; the ionosphere model is related to the model coefficient, the longitude and latitude of the reference station corresponding to the base line and the ionosphere correction corresponding to the base line; based on a least square method, obtaining model coefficients of an ionosphere model according to ionosphere correction solutions respectively corresponding to a plurality of base lines; determining ionospheric corrections corresponding to the rover based on the model coefficients and the ionospheric model may include: based on the ionosphere model, determining ionosphere correction corresponding to the mobile station according to the model coefficient and longitude and latitude of the mobile station.
Specifically, the ionosphere model is shown in formula (1):
Wherein DDion a,b is a dual-difference ionospheric delay error (dual-difference ionospheric correction) of a baseline solution between a station a and a station b, Δx a,b、Δya,b is a longitude and latitude difference between a station a and b, a= (α 1,α2,α3) is a model coefficient vector, the model coefficient vector can be solved by using a least square method based on networking station data, and a derivation process of the model coefficient vector a is as follows:
equation (1) can be converted into:
equation (2) can be abbreviated as:
B·a＝W (3)
Setting independent equal precision equal weight of the correction, and obtaining:
a＝BT(BBT)-1W (4)
After a= (α 1,α2,α3) is calculated, for the mobile station user, calculating the ionospheric correction of the user point by using the above model:
Wherein u refers to a rover; Δχ a,u、Δya,u is the difference in longitude and latitude between the rover u and the master a, respectively.
It should be noted that, in the process of creating the ionosphere model object, each parameter to be used for modeling is initialized, and meanwhile, model parameters used in modeling are set, where the model parameters include: the method is characterized in that the model parameters are set according to the minimum fixed satellite number required by modeling, the threshold for anomaly judgment of an ionosphere solution result, the maximum sustainable time of anomaly repair, ionosphere precision required by a repair condition and the like, and the aim of setting the model parameters is to avoid modifying a core algorithm every time by adjusting the improvement effect of the parameter comparison model in real time when the model is optimized and iterated subsequently.
According to the method for determining the ionospheric corrections, provided by the embodiment, the characteristics of dispersion, distance correlation and the like of the ionospheric delay errors are considered, the spatial distribution and disturbance existence rules are considered, the modeling of the ionospheric model is carried out according to a low-order surface fitting algorithm, the spatial correlation of the ionospheric delay errors can be approximated, the rationality of the model is improved, on the basis, the ionospheric corrections of a plurality of baselines are input into the ionospheric model, the ionospheric corrections of a more accurate mobile station can be calculated, the dependence on the baseline fixing correctness of a single baseline is reduced, and therefore the positioning effect is improved.
Fig. 4 is a second flowchart of a method for determining ionospheric corrections according to an embodiment of the present application. As shown in fig. 4, in order to improve the accuracy of the model results, i.e., ionospheric corrections, of the rover. Based on the above embodiment, for example, based on the embodiment shown in fig. 2, the ionospheric correction of each baseline obtained by the calculation is checked and corrected in this embodiment, and the method includes:
401. position information of the rover is acquired.
402. And determining ionospheric corrections corresponding to a plurality of baselines in the reference station networking corresponding to the mobile station according to the position information.
Steps 401 to 402 in this embodiment are similar to steps 201 to 202 in the above embodiment, and are not repeated here.
403. And correcting the ionospheric corrections corresponding to the baselines respectively to obtain corrected ionospheric corrections.
In some embodiments, correcting the ionospheric corrections corresponding to the plurality of baselines respectively to obtain corrected ionospheric corrections may include: based on the time sequence of the epoch, calculating the difference between the epoch value of the current epoch and the epoch value of the previous epoch for each epoch in the ionosphere correction corresponding to each baseline, and if the difference is greater than or equal to a preset value, transmitting the epoch value of the previous epoch to the epoch value of the current epoch. And determining the corrected ionosphere correction according to the epoch values of the plurality of epochs in the ionosphere correction corresponding to the plurality of baselines.
Specifically, outlier repair may be performed on the ionospheric corrections generated by modeling in order to improve the accuracy of the ionospheric corrections obtained by the rover. Based on the spatiotemporal continuity characteristics of the ionosphere, the raw data involved in modeling (each baseline corresponds to an ionosphere correction) can be checked based on the front-to-back epoch double difference ionosphere difference. The method comprises the following specific steps: firstly, the difference value between the double-difference ionosphere epochs calculated by aiming at each base line can be checked, and the calculation formula of the difference between epochs is as follows:
ΔDDion＝abs(DDiont2-DDiont1) (6)
Where t2 and t1 are the time intervals for two solutions of the double difference ionosphere, i.e. the algorithmically set sampling intervals.
If the difference between two epochs is greater than the anomaly determination threshold DDIONMASK (the value is a configurable parameter, for example, 1/2 wavelength can be taken, for example, the wavelength of the GPS system is 0.19m, then the threshold value can be set to 0.1m for the GPS system, although the threshold value can be adjusted according to the actual situation, this embodiment does not limit the situation), then the current epoch value is replaced by the previous epoch value, and so on, and anomaly value verification and restoration are performed on each differential ionosphere involved in modeling, but in order to ensure the accuracy of the final ionosphere correction value, the recurrence duration of the last valid solution value can be set to be no more than the preset epoch number (for example, 60 epochs) (here, 60 epochs are the configuration parameters, which are one of the configurable initial parameters when the model is built, and are obtained by comprehensively considering the recurrence duration and correction accuracy). When using the front and back epoch test, it is important for the selection of the initial value, where the initial value is set according to the convergence time of the actual model, and the convergence time is set as a configurable parameter, and for example, a double-difference ionosphere value after 300 epochs can be used as an initial value (the model tends to be stable after 300 epochs are verified by batch processing test), and the convergence time of the solution result to the stable precision is different according to the ionosphere model, but generally not less than 60 epochs and not more than 600 epochs can be obtained according to a large number of documents and actual tests.
In some embodiments, correcting the ionospheric corrections corresponding to the plurality of baselines respectively to obtain corrected ionospheric corrections may include: determining a plurality of closed loops from the plurality of baselines; the closed loop includes a plurality of baselines connected end to end; calculating, for each closed loop, a vector sum of ionospheric corrections for each baseline in the closed loop; for each baseline, assigning weights to the baselines based on vector sums of a plurality of closed loops corresponding to the baselines, and determining corrected ionospheric corrections corresponding to the baselines according to the weights; and determining the corrected ionospheric corrections corresponding to the plurality of baselines as corrected ionospheric corrections.
In particular, in performing improved regional ionospheric modeling of multiple baseline networks, a correctness check for the dual differential ionosphere values resolved for each baseline may be added prior to modeling, and the correctness check methods suggested herein may include, but are not limited to, dual differential ionosphere closed difference checks.
Taking the closed difference test mode as an example, by the basic principle of net adjustment, the sum of the double difference ionosphere calculated by each base line in any net type (including triangle, quadrangle, pentagon and the like) forming a ring is 0 according to the double difference ionosphere sum of each base line in the clockwise or anticlockwise direction, and the double difference ionosphere closing is called. As shown in fig. 3, if the double difference ionosphere of three sides AB, BC, and CA obtained by the solution of the triangular network baselines formed by the main reference station (a), the auxiliary reference station 1 (B), and the auxiliary reference station 2 (C) is DDion AB、DDionBC、DDionBC, DDion AB+DDionBC+DDionCA =0 indicates that the double difference ionosphere of the solution of the three baselines is correct, and if the solution of the three baselines is not equal to 0, the solution of the three baselines is wrong, and the solution of the three baselines is correct, and can be confirmed by combining with other closed loops. And setting a weight value for the base line passing through the correctness checking according to the result of the correctness checking when modeling (for example, the base line passing through the correctness checking has higher weight, and the base line not passing through the correctness checking can be subjected to weight reduction processing according to the actual resolving condition), so that the precision of the final modeling result can be increased.
404. Inputting the corrected ionospheric correction into an ionospheric model to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm.
405. And determining the ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model.
Steps 404 to 405 in this embodiment are similar to steps 203 to 204 in the above embodiment, and are not repeated here.
It should be noted that, the verification and correction of the original data (ionospheric corrections of each baseline) may be performed after the initial result is obtained based on the original data and the ionospheric model, that is, if the verification result indicates that the initial result is unreasonable, a new result may be obtained based on the corrected original data to cover the initial result. If the test result indicates that the initial result is not unreasonable, the initial result may continue to be used. In this way, the initial results can be quickly sent to the user's mobile station for the mobile station to make decisions, and the decisions can also be revised based on the new results.
According to the method for determining the ionospheric corrections, the ionospheric corrections of the baselines obtained through calculation of the baselines are checked and repaired, and the accuracy of the ionospheric corrections of the mobile station can be improved.
In summary, the ionosphere correction determining method provided by the embodiment of the application provides a novel network ionosphere modeling optimization scheme based on low-order surface fitting on the basis of a triangular network interpolation model, uses a novel network baseline calculation result as modeling input, avoids the influence on service performance due to the accident of a certain baseline fixing error, and improves the accuracy and stability of double-difference ionosphere correction.
And on the basis of the interpolation model, the method is used for carrying out regional ionosphere modeling on the novel network by using a low-order curved surface fitting method, and the method is more approximate to the spatial correlation of ionosphere delay errors, so that the modeling precision can be improved.
In addition, an outlier restoration strategy is added to the regional ionosphere modeling result, so that VRS service data finally broadcast to users is guaranteed to have better precision and stability.
The technical effects of the method according to the embodiment of the present application are exemplarily described below with reference to fig. 7 to 10.
Modeling mode based on triangle net is compared with novel network ionosphere modeling optimization scheme effect based on low-order surface fitting:
First, as shown in fig. 7, for ionospheric solution failure caused by observational quality problem or model problem in the triangle network modeling mode, the new model can obtain good improvement effect. The new model can be calculated according to the value which can not be calculated by the original model, and the number of new model solutions in the same time period (the time period corresponding to the 2000 th to 3500 th points in the whole time period in the figure) is more than that of the original model.
Secondly, as shown in fig. 8, in the triangle modeling method, the ionospheric solution is abnormal due to the observed quantity quality problem or the model problem, and the new model can obtain good improvement effect. The original model calculates the wrong points, the new model can be corrected, and only one of the two graphs is used for carrying out, for example, the time period corresponding to the 1000 th to 2500 th points in the whole time period.
Finally, as shown in fig. 9, the new model can obtain good improvement effect due to the ionospheric solution anomaly problem caused by the external environment (ionospheric anomaly occurrence). The original model calculates the points with errors and longer duration, the new model can be corrected, and the corrected results are continuous and smooth, taking the time period corresponding to the 1000 th to 2500 th points in the whole time period as an example.
Simulating a positioning result of the user terminal by using VRS service data generated by an improved regional ionosphere modeling method:
As shown in fig. 10, the improved ionosphere modeling method has significant improvements in both user accuracy and fixture rate.
In conclusion, the regional ionosphere model constructed by the novel network can effectively avoid the influence on service performance due to the accidental of a certain base line fixing error in the traditional triangular network model, thereby improving the correctness and stability of double-difference ionosphere correction. The regional ionosphere model constructed by the low-order curved surface fitting method is closer to the characteristics of the ionosphere delay error, such as dispersion, distance correlation and the like, and can approximate to the spatial correlation of the ionosphere delay error, so that the accuracy of the ionosphere correction generated by modeling is improved, and the service performance is improved.
Fig. 5 is a schematic structural diagram of an ionospheric correction determining device according to an embodiment of the present application. As shown in fig. 5, the ionospheric correction determination device 50 includes: an acquisition module 501, a networking module 502, a resolving module 503 and a processing module 504.
An obtaining module 501, configured to obtain location information of a mobile station;
the networking module 502 is configured to determine ionospheric corrections corresponding to a plurality of baselines in a reference station network corresponding to the mobile station according to the location information;
A resolving module 503, configured to input ionospheric corrections corresponding to the plurality of baselines respectively into an ionospheric model, and resolve the ionospheric model to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm;
and a processing module 504, configured to determine an ionospheric correction corresponding to the rover according to the model coefficient and the ionospheric model.
According to the ionospheric correction determining device provided by the embodiment of the application, the ionospheric delay error has the characteristics of dispersion, distance correlation and the like, the spatial distribution and disturbance existence rules are considered, the modeling of the ionospheric model is carried out according to the low-order surface fitting algorithm, the spatial correlation of the ionospheric delay error can be approximated, the rationality of the model is improved, on the basis, the ionospheric corrections of a plurality of baselines are input into the ionospheric model, the ionospheric correction of a more accurate mobile station can be calculated, the dependence on the baseline fixing correctness of a single baseline is reduced, and the positioning effect is improved.
The ionospheric correction determination device provided in the embodiment of the present application may be used to execute the above method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein.
Fig. 6 is a schematic hardware structure of an ionosphere correction determining device according to an embodiment of the present application, where the device may be a computer, a messaging device, a tablet device, a medical device, etc.
The device 60 may include one or more of the following components: a processing component 601, a memory 602, a power component 603, a multimedia component 604, an audio component 605, an input/output (I/O) interface 606, a sensor component 607, and a communication component 608.
The processing component 601 generally controls overall operation of the device 60, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 601 may include one or more processors 609 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 601 may include one or more modules that facilitate interactions between the processing component 601 and other components. For example, the processing component 601 may include a multimedia module to facilitate interaction between the multimedia component 604 and the processing component 601.
The memory 602 is configured to store various types of data to support operations at the device 60. Examples of such data include instructions for any application or method operating on device 60, contact data, phonebook data, messages, pictures, video, and the like. The memory 602 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply assembly 603 provides power to the various components of the device 60. Power components 603 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for device 60.
The multimedia component 604 includes a screen between the device 60 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 604 includes a front camera and/or a rear camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 60 is in an operational mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 605 is configured to output and/or input audio signals. For example, the audio component 605 includes a Microphone (MIC) configured to receive external audio signals when the device 60 is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signals may be further stored in the memory 602 or transmitted via the communication component 608. In some embodiments, the audio component 605 also includes a speaker for outputting audio signals.
The I/O interface 606 provides an interface between the processing component 601 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 607 includes one or more sensors for providing status assessment of various aspects of the device 60. For example, the sensor assembly 607 may detect the on/off state of the device 60, the relative positioning of the components, such as the display and keypad of the device 60, the sensor assembly 607 may also detect the change in position of the device 60 or one component of the device 60, the presence or absence of user contact with the device 60, the orientation or acceleration/deceleration of the device 60, and the change in temperature of the device 60. The sensor assembly 607 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 607 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 607 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 608 is configured to facilitate communication between the device 60 and other devices, either wired or wireless. The device 60 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 608 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 608 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the device 60 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as a memory 602, including instructions executable by the processor 609 of the device 60 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). The processor and the readable storage medium may reside as discrete components in a device.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program realizes the method for determining the ionospheric correction, which is executed by the device for determining the ionospheric correction.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (11)
1. A method for determining ionospheric corrections, comprising:
acquiring position information of a mobile station;
According to the position information, determining ionospheric corrections corresponding to a plurality of baselines in a reference station network corresponding to the mobile station respectively;
Inputting the ionospheric corrections corresponding to the baselines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm;
determining ionospheric corrections corresponding to the rover according to the model coefficients and the ionospheric model;
Inputting the ionospheric corrections corresponding to the baselines respectively into an ionospheric model, and obtaining model coefficients of the ionospheric model by means of resolving, wherein the method comprises the following steps:
determining a plurality of closed loops from a plurality of the baselines; the closed loop includes a plurality of baselines connected end to end;
Calculating, for each closed loop, a vector sum of ionospheric corrections for each baseline in the closed loop;
For each baseline, assigning weights to the baselines based on vector sums of a plurality of closed loops corresponding to the baselines, and determining corrected ionospheric corrections corresponding to the baselines according to the weights;
The corrected ionospheric corrections corresponding to the baselines are determined as corrected ionospheric corrections;
And inputting the corrected ionospheric correction into an ionospheric model to obtain model coefficients of the ionospheric model.
2. The method of claim 1, wherein determining ionospheric corrections for each of a plurality of baselines in a reference station network for which the rover corresponds based on the location information comprises:
determining a reference station networking corresponding to the mobile station according to the position information;
obtaining observation data corresponding to the networking of the reference station;
And respectively carrying out baseline calculation on a plurality of baselines of the reference station networking according to the observation data to obtain ionosphere corrections respectively corresponding to the baselines.
3. The method of claim 2, wherein the determining, based on the location information, a reference station networking to which the rover station corresponds comprises:
determining a reference station having a smallest distance from the rover station among a plurality of reference stations as a master station based on the position information;
determining at least three reference stations adjacent to the main reference station as auxiliary reference stations according to the position information of the main reference station;
And determining the primary reference station and the plurality of auxiliary reference stations as reference station networking corresponding to the mobile station.
4. A method according to claim 3, wherein said determining, based on the location information of the primary reference station, at least three reference stations adjacent to the primary reference station as secondary reference stations each comprises:
And determining an adjacent reference station with the distance smaller than or equal to a preset distance from the main reference station as an auxiliary reference station according to the position information of the main reference station.
5. The method according to claim 2, wherein said performing baseline calculation on the plurality of baselines of the reference station network according to the observation data, to obtain ionospheric corrections corresponding to the plurality of baselines, respectively, includes:
starting to respectively perform baseline calculation on a plurality of baselines of the reference station networking according to the observation data, and performing calculation duration timing;
if the resolving time length is longer than the preset time length and the fixed rate corresponding to the baselines does not reach the preset fixed rate, respectively resolving the baselines of the networking of the reference station according to the observation data until the resolving time length is shorter than or equal to the preset time length and the fixed rate corresponding to the baselines reaches the preset fixed rate, and obtaining ionosphere corrections corresponding to the baselines respectively.
6. The method according to claim 2, wherein said performing baseline calculation on the plurality of baselines of the reference station network according to the observation data, to obtain ionospheric corrections corresponding to the plurality of baselines, respectively, includes:
For each baseline in the baseline networking, determining a widelane ambiguity fixed solution corresponding to the baseline based on an MW combination algorithm according to observation data corresponding to the baseline;
And determining the floating solution ambiguity of the narrow lane N1 according to the fixed number of the wide lane ambiguities corresponding to the base line, and performing Lambda solution according to the floating solution ambiguity and the ionosphere ambiguity covariance matrix to obtain the ionosphere correction corresponding to the base line.
7. The method according to any one of claims 1-6, wherein inputting the ionospheric corrections corresponding to the plurality of baselines into an ionospheric model, and obtaining model coefficients of the ionospheric model by resolving includes:
based on a low-order surface fitting algorithm, constructing an ionosphere model according to the networking of the reference station; the ionosphere model is related to the model coefficient, the longitude and latitude of the reference station corresponding to the base line and the ionosphere correction corresponding to the base line;
based on a least square method, obtaining model coefficients of the ionosphere model according to ionosphere correction solutions respectively corresponding to a plurality of base lines;
The determining the ionospheric correction corresponding to the mobile station according to the model coefficient and the ionospheric model comprises the following steps:
Based on the ionosphere model, determining ionosphere correction corresponding to the mobile station according to the model coefficient and longitude and latitude of the mobile station.
8. An ionospheric correction determination device, comprising:
The acquisition module is used for acquiring the position information of the mobile station;
the networking module is used for determining ionospheric corrections corresponding to a plurality of baselines in the reference station networking corresponding to the mobile station according to the position information;
The calculation module is used for inputting the ionospheric corrections corresponding to the baselines respectively into an ionospheric model, and calculating to obtain model coefficients of the ionospheric model; the ionosphere model is constructed based on a low-order surface fitting algorithm;
The processing module is used for determining an ionosphere correction corresponding to the mobile station according to the model coefficient and the ionosphere model;
the resolving module is specifically configured to determine a plurality of closed loops according to a plurality of the baselines; the closed loop includes a plurality of baselines connected end to end;
Calculating, for each closed loop, a vector sum of ionospheric corrections for each baseline in the closed loop;
For each baseline, assigning weights to the baselines based on vector sums of a plurality of closed loops corresponding to the baselines, and determining corrected ionospheric corrections corresponding to the baselines according to the weights;
The corrected ionospheric corrections corresponding to the baselines are determined as corrected ionospheric corrections;
And inputting the corrected ionospheric correction into an ionospheric model to obtain model coefficients of the ionospheric model.
9. An ionospheric correction determination device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
The at least one processor executing computer-executable instructions stored in the memory causes the at least one processor to perform the method of ionospheric correction determination as claimed in any one of claims 1 to 7.
10. A computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, implement the method of ionospheric correction determination of any of claims 1 to 7.
11. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of ionospheric correction determination of any of claims 1 to 7.
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