Method for Determining Raw Observation Precision of Satellite-Borne GNSS Receiver

A method for determining a raw observation accuracy of a spaceborne global navigation satellite system (GNSS) receiver, and the method is applied in a dynamic observation scenario and comprises:

• T1:
• selecting a raw observation data file, and obtaining, by performing data preprocessing, continuous observation data of pseudorange and continuous observation data of carrier phase without consecutive zero values within a threshold range corresponding to each frequency point of each satellite channel;
• T2:
• selecting a frequency point, selecting, among the K channels corresponding to a selected frequency point, one channel as a reference channel and K-1 channels as test channels, filtering, based on a satellite orbit type, pseudorange data and carrier phase data of the reference channel from preprocessed data of the raw observation data file as reference channel data, and filtering, based on the satellite orbit type, pseudorange data and carrier phase data of the K-1 channels from the preprocessed data of the raw observation data file as test channel data;
• T3:
• selecting a test channel, searching for a time intersection between the reference channel data and selected test channel data, and filtering data segments that meet a time length threshold within the time intersection, obtaining a number of data segments, N, and a starting time and an ending time of each data segment;
• T4:
• selecting a data segment, obtaining inter-channel differences between the reference channel data and the test channel data in the selected data segment, and obtaining, by performing a quadruple difference on the inter-channel differences, a quadruple difference array PrD4 of pseudorange observations and a quadruple difference array CpD4 of carrier phase observations;
• T5:
• determining a pseudorange root mean square XRMS value and a pseudorange standard deviation XSTD value for the selected data segment of a selected test channel based on the quadruple difference array PrD4 of pseudorange observations, and determining a carrier phase root mean square XRMS2 value and a carrier phase standard deviation XSTD value for the selected data segment of the selected test channel based on the quadruple difference array CpD4 of carrier phase observations;
• T6:
• repeating steps T4 to T5, obtaining a first set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD values for N data segments of the selected test channel, and outputting the first set of pseudorange root mean square XRMS values, the pseudorange standard deviation XSTD values, the carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD values graphically;
• T7:
• repeating steps T3 to T6, obtaining a second set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and the carrier phase standard deviation XSTD values of N data segments of all test channels corresponding to the selected frequency point;
• T8:
• repeating steps T2 to T7, obtaining a third set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and the standard deviation XSTD values for N data segments of all test channels corresponding to all frequency points;
• T9:
• repeating steps T1 to T8, obtaining a fourth set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD values for N data segments of all test channels corresponding to all frequency points in all raw observation data files, and outputting the fourth set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD values as the raw observation accuracy of the spaceborne GNSS receiver;
• and
• adjusting a component of the spaceborne GNSS receiver based on the raw observation accuracy of the spaceborne GNSS receiver when the raw observation accuracy does not meet an accuracy requirement.

An electronic device, comprising:

• a memory, configured to store computer-readable instructions;
• and
• a processor, configured to run the computer-readable instructions to execute a method for determining a raw observation accuracy of a spaceborne global navigation satellite system (GNSS) receiver, wherein the spaceborne GNSS receiver comprises Y satellite navigation systems, each satellite navigation system comprises M frequency points, and each frequency point corresponds to K channels;
• where Y≥1, M≥1, K>1;
• one raw observation data file stores data of M*K channels corresponding to all frequency points of one satellite navigation system;
• and the method is applied in a static observation scenario and comprises:
• S1:
• selecting a raw observation data file, and obtaining, by performing data preprocessing, continuous observation data of pseudorange and continuous observation data of carrier phase in data of each channel corresponding to each frequency point, wherein the continuous observation data of pseudorange is within a pseudorange threshold range, and the continuous observation data of carrier phase does not comprise consecutive zero values;
• S2:
• selecting a frequency point, selecting, among the K channels corresponding to a selected frequency point, one channel as a reference channel and K-1 channels as test channels, filtering, based on a satellite orbit type, pseudorange data and carrier phase data of the reference channel from preprocessed data of the raw observation data file as reference channel data, and filtering, based on the satellite orbit type, pseudorange data and carrier phase data of the K-1 channels from the preprocessed data of the raw observation data file as test channel data;
• S3:
• selecting a test channel, searching for a time intersection between the reference channel data and selected test channel data, and filtering data segments that meet a time length threshold within the time intersection, obtaining a number of data segments, N, and a starting time and an ending time of each data segment;
• S4:
• selecting a data segment, obtaining inter-channel differences between the reference channel data and the test channel data in the selected data segment, and obtaining, by performing a triple difference on the inter-channel differences, a triple difference array PrD3 of pseudorange observations and a triple difference array CpD3 of carrier phase observations;
• S5:
• determining a pseudorange root mean square XRMS value and a pseudorange standard deviation XSTD value for the selected data segment of a selected test channel based on the triple difference array PrD3 of pseudorange observations, and determining a carrier phase root mean square XRMS2 value and a carrier phase standard deviation XSTD2 value for the selected data segment of the selected test channel based on the triple difference array CpD3 of carrier phase observations;
• S6:
• repeating steps S4 to S5, obtaining a first set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values for N data segments of the selected test channel, and outputting the first set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values graphically;
• S7:
• repeating steps S3 to S6, obtaining a second set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values for N data segments of all test channels corresponding to the selected frequency point;
• S8:
• repeating steps S2 to S7, obtaining a third set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values of N data segments of all test channels corresponding to all frequency points;
• S9:
• repeating steps S1 to S8, obtaining a fourth set of pseudorange root mean square values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values of N data segments of all test channels corresponding to all frequency points in all raw observation data files, and outputting the fourth set of pseudorange root mean square XRMS values, pseudorange standard deviation XSTD values, carrier phase root mean square XRMS2 values, and carrier phase standard deviation XSTD2 values as the raw observation accuracy of the spaceborne GNSS receiver;
• and
• adjusting a component of the spaceborne GNSS receiver based on the raw observation accuracy of the spaceborne GNSS receiver when the raw observation accuracy does not meet an accuracy requirement.