CN119355764A - GNSS/5G fusion location information service performance monitoring method and system - Google Patents
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Abstract
本发明涉及GNSS/5G融合位置信息服务性能监测方法及系统，涉及导航定位技术领域，包括:获取监测数据采集终端输出的地物接收性能监测点信息；对获取的数据执行捕获处理，获得接收卫星导航信号的粗略码相位值和载波频率；执行跟踪处理，获得接收卫星导航信号即时I支路分量解调的导航电文数据和伪距观测量；获得地物接收性能监测点三维空间坐标位置唯一解，作为定位解算结果；获得定位精度偏差；获得可见卫星数监测结果；获得DOP值监测结果。本发明综合运用达到判定系统异常情况，为终端设备提供可靠的时频信息服务保障，确保终端设备使用性能。
The present invention relates to a GNSS/5G fusion location information service performance monitoring method and system, and to the field of navigation and positioning technology, including: obtaining ground object reception performance monitoring point information output by a monitoring data acquisition terminal; performing capture processing on the acquired data to obtain a rough code phase value and carrier frequency of a received satellite navigation signal; performing tracking processing to obtain navigation message data and pseudo-range observations demodulated by an instantaneous I branch component of the received satellite navigation signal; obtaining a unique solution for the three-dimensional spatial coordinate position of the ground object reception performance monitoring point as a positioning solution result; obtaining positioning accuracy deviation; obtaining a visible satellite number monitoring result; and obtaining a DOP value monitoring result. The present invention is used comprehensively to determine system abnormalities, provide reliable time-frequency information service guarantees for terminal devices, and ensure the performance of terminal devices.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a GNSS/5G fusion position information service performance monitoring method and system.
Background
The Global Navigation Satellite System (GNSS) is in an in-orbit operation stage, the operation state is relatively stable, the GPS is provided with the advantages of all-weather, wide coverage range and the like, so that the GPS is universally applied to all modern service fields such as business logistics, travel navigation, low-navigation rescue, fine agriculture and the like, the GPS is subjected to complex receiving scenes such as urban canyons, indoor and outdoor transition areas, indoor areas and the like, the quantity of received GNSS satellite navigation signals is limited due to single application of GNSS, the intensity of receiving power is weaker, the GPS is easily influenced by non-line-of-sight signals, multipath effects and the like, the precision effect of terminal positioning equipment is degraded, the positioning application requirements under the complex receiving scenes are difficult to meet, and therefore, the GPS needs to be combined with the advantages of millimeter waves, high speed, large bandwidth, large capacity, low time delay, high reliability and the like of a 5G communication technology, the requirements of positioning precision and robustness are improved in quality and efficiency so as to realize the communication integration, meanwhile, the GNSS/5G fusion positioning terminal equipment position information is monitored, the problem of abnormal state is analyzed, the corresponding technical scheme is adopted, the service performance of the terminal equipment is ensured, reliable time information is guaranteed, the positioning information is provided for the terminal equipment, and the situation is guaranteed, and the comprehensive application of the system is comprehensively evaluated by the comprehensive application of the technical scheme.
Therefore, a method for monitoring performance of the integrated GNSS/5G-based location information service is needed to realize the integrated implementation of the integrated GNSS/5G-based location information service and the integrated smart cloud/internet security, thereby forming a closed system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a GNSS/5G fusion-based position information service performance monitoring method and system, which are used for solving the problems in the background art.
The technical scheme of the invention is as follows:
A service performance monitoring method based on GNSS/5G fusion position information comprises the following steps:
Acquiring the real position information of the ground object receiving performance monitoring point output by the monitoring data acquisition terminal the method comprises the steps of 5G base station real position information, 5G signal TOA, 5G signal DOA and receiving satellite navigation signal original acquisition data;
TOA refers to the arrival time of the 5G signal, DOA refers to the direction of arrival of the 5G signal;
Performing acquisition processing on the acquired data to acquire a rough code phase value and a carrier frequency of a received satellite navigation signal;
according to the acquired data, the rough code phase value and the carrier frequency obtained by the capturing process, tracking process is carried out, and navigation message data and pseudo-range observed quantity of the instant I branch component demodulation of the received satellite navigation signal are obtained;
According to the obtained navigation message data and pseudo-range observed quantity, combining the real position information of the 5G base station, the TOA of the 5G signal and the DOA of the 5G signal, and obtaining a unique solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point by a least square absolute single point positioning solution method, and taking the unique solution as a positioning solution result;
according to the obtained positioning calculation result, comparing the real position information of the ground object receiving performance monitoring point with the positioning calculation result to obtain positioning precision deviation;
According to the positioning calculation result, respectively counting the visible satellite numbers of a plurality of cut-off height angles according to the class of the GNSS satellite navigation positioning system to obtain a visible satellite number monitoring result;
And according to the positioning calculation result, calculating a GNSS/5G fusion positioning total epoch digital position precision factor to obtain a DOP value monitoring result.
Further, the capturing processing is performed on the acquired data, which specifically includes performing the capturing processing on the acquired data through the configured capturing search bandwidth, the capturing detection threshold and the capturing correlation integration duration, so as to obtain a rough code phase value and a carrier frequency of the received satellite navigation signal.
Further, the tracking processing is performed according to the acquired data and the rough code phase value and carrier frequency obtained by the capturing processing, which specifically includes performing tracking processing on the acquired data through the configured carrier loop noise bandwidth, loop damping factor, code loop noise bandwidth, loop damping factor and related interval, so as to obtain navigation message data and pseudo-range observed quantity of instant I branch component demodulation of the received satellite navigation signal.
Further, the method for obtaining the unique solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point through the least square absolute single point positioning calculation comprises the steps of constructing an observation residual equation set by utilizing a 5G signal TOA observation equation and a 5G signal DOA observation equation, and obtaining the unique optimal positioning estimation solution of the ground object receiving performance monitoring point after iteration until convergence through the observation residual of the iterative observation residual equation set.
Further, the 5G signal TDOA observation equation is:
;
wherein TDOA refers to the time difference of arrival of the 5G signal; And Respectively the firstObservations of the 1 st and 1 st 5G base stations; Is the first Three-dimensional coordinate positions of the 5G base stations; Receiving performance monitoring point coordinates for the ground object; Is the speed of light; And Respectively the firstSystem clock differences for the 1 st and the 1 st 5G base stations.
Further, the 5G signal DOA observation equation includes a course angle observation equation and a pitch angle observation equation, where the course angle observation equation is:;
preferably, the pitch angle observation equation is: 。
further, the observation residual equation set is:
;
In the formula, To design a matrix; Receiving performance monitoring point coordinates for the ground object; Clock error for ground object receiving performance monitoring point The residual is observed for each iteration.
A GNSS/5G fusion based location information service performance monitoring system, comprising:
The data acquisition module is configured to acquire ground object receiving performance monitoring point real position information, 5G base station real position information, 5G signals TOA and 5G signals DOA and received satellite navigation signal original acquisition data output by the monitoring data acquisition terminal;
A capture module configured to perform a capture process on the acquired data to obtain a coarse code phase value and a carrier frequency of a received satellite navigation signal;
The tracking module is configured to execute tracking processing according to the acquired data, the rough code phase value and the carrier frequency obtained by the capturing processing, and acquire navigation text data and pseudo-range observed quantity of the instant I branch component demodulation of the received satellite navigation signal;
The positioning module is configured to obtain a unique solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point by a least square absolute single-point positioning solution method according to the obtained navigation message data and pseudo-range observed quantity and combining the real position information of the 5G base station, the TOA of the 5G signal and the DOA of the 5G signal, and the unique solution is used as a positioning solution result;
The visible satellite number module is configured to count the visible satellite numbers of a plurality of cut-off height angles according to the class of the GNSS satellite navigation positioning system according to the positioning resolving result to obtain a visible satellite number monitoring result;
and the DOP value module is configured to count GNSS/5G fusion positioning total epoch digital precision factors according to the positioning calculation result to obtain a DOP value monitoring result.
A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded and executed by a processor of a terminal device for performing the method for GNSS/5G fusion based location information service performance monitoring.
A terminal device comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions, and the computer readable storage medium is used for storing a plurality of instructions which are suitable for being loaded by the processor and executing the GNSS/5G fusion position information service performance monitoring method.
The beneficial effects of the invention are as follows:
Compared with the prior art, the GNSS/5G fusion position information service performance monitoring method and system technical solution combines the advantages of GNSS all-day, all-weather, wide coverage range and the like with the advantages of 5G communication technology such as millimeter waves, high speed, large bandwidth, large capacity, low time delay, high reliability and the like, improves the positioning accuracy and robustness, has universality and usability of different ground object receiving performance monitoring points in complex scenes, obtains a GNSS/5G fusion positioning solution result of the ground object receiving performance monitoring points based on processing of capturing, tracking and positioning modules, compares the GNSS/5G fusion positioning solution result with real position information of the ground object receiving performance monitoring points to obtain a positioning accuracy deviation result, utilizes an omnibearing, multiple-redundancy and multiple-fusion data processing analysis technical means, builds and perfects an evaluation scheme based on encrypted data transmission of a safety network cloud service platform, comprehensively uses to judge abnormal conditions of the system, provides reliable time-frequency information service guarantee for terminal equipment, and ensures the service performance of the terminal equipment.
Drawings
FIG. 1 is a flow chart of a GNSS/5G fusion based location information service performance monitoring system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a GNSS/5G fusion based location information service performance monitoring system according to an embodiment of the present invention;
FIG. 3 is a positioning accuracy resolution flow chart according to an embodiment of the invention;
FIG. 4 is a flow chart of a visible satellite number solution according to an embodiment of the invention;
fig. 5 is a DOP value resolving flowchart according to an embodiment of the present invention.
Detailed Description
The invention is further defined by, but is not limited to, the following drawings and examples in conjunction with the specification.
Example 1
As shown in fig. 1, the present embodiment provides a service performance monitoring method based on GNSS/5G fusion location information, which specifically includes the following steps:
Acquiring the real position information of the ground object receiving performance monitoring point output by the monitoring data acquisition terminal the method comprises the steps of 5G base station real position information, 5G signal TOA, 5G signal DOA and receiving satellite navigation signal original acquisition data;
Performing acquisition processing on the acquired data to acquire a rough code phase value and a carrier frequency of a received satellite navigation signal;
according to the acquired data, the rough code phase value and the carrier frequency obtained by the capturing process, tracking process is carried out, and navigation message data and pseudo-range observed quantity of the instant I branch component demodulation of the received satellite navigation signal are obtained;
According to the obtained navigation message data and pseudo-range observed quantity, combining the real position information of the 5G base station, the TOA of the 5G signal and the DOA of the 5G signal, and obtaining a unique solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point by a least square absolute single point positioning solution method, and taking the unique solution as a positioning solution result;
according to the obtained positioning calculation result, comparing the real position information of the ground object receiving performance monitoring point with the positioning calculation result to obtain positioning precision deviation;
According to the positioning calculation result, respectively counting the visible satellite numbers of a plurality of cut-off height angles according to the class of the GNSS satellite navigation positioning system to obtain a visible satellite number monitoring result;
And according to the positioning calculation result, calculating a GNSS/5G fusion positioning total epoch digital position precision factor to obtain a DOP value monitoring result.
Specific:
s4.1 positioning accuracy
S4.1.1 principle analysis
The positioning accuracy refers to the deviation value (specifically, horizontal positioning accuracy and elevation positioning accuracy) between the position provided by the GNSS/5G fusion position information service to the user and the real position of the user, and the positioning calculation result calculated by the GNSS/5G fusion positioning data processing system in the service monitoring system is compared with the real position of the ground object receiving performance monitoring point.
S4.1.2 method of resolving
The least square absolute single point positioning calculation method comprises the following steps:
Acquiring navigation text data of a GNSS global satellite navigation system, pseudo-range observed quantity, real position information of a 5G base station, TOA (time of arrival) and DOA (data of arrival) information of the 5G signal;
The observation equation is:
;
in the superscript And the following tableRespectively the firstSatellite and ground object receiving performance monitoring points; is a pseudo-range observation; For the distance between the ground object receiving performance monitoring point and the satellite ;Clock error for ground object receiving performance monitoring points; Is noise; to observe the three-dimensional coordinate position of the satellite.
;
In the ground object receiving performance monitoring pointIs the firstGround object receiving performance monitoring point observation values of the 5G base stations; is the distance between the ground object receiving performance monitoring point and the 5G base station ;Clock error for ground object receiving performance monitoring points; Is the first System clock differences of the 5G base stations; Is noise; Is the first And 5G base station coordinates.
The TOA observation equation between different 5G base stations is differenced to obtain the TDOA observation equation as follows:
;
In the formula, Is the firstTDOA values between the 1 st 5G base station; And Respectively the firstObservations of the 1 st and 1 st 5G base stations; Is the first Three-dimensional coordinate positions of the 5G base stations; Receiving performance monitoring point coordinates for the ground object; Is the speed of light; And Respectively the firstSystem clock differences for the 1 st and the 1 st 5G base stations.
The DOA measuring mode is to measure the incident angle of the 5G base station broadcast signal to the monitoring data acquisition system by using an antenna array, including the course angleAnd pitch angleThe observation equation is:
;
;
In the formula, AndRespectively the firstHeading angle and pitch angle of each 5G base station; Is the first Three-dimensional coordinate positions of the 5G base stations; and receiving performance monitoring point coordinates for the ground object.
The linear system of observation equations for a single 5G base station and observation satellite is:
;
wherein, Is an observed value with an observed noise error.Is the firstPseudo-range observations of the satellites; is a pseudo-range observation; Is the observation of the 1 st 5G base station; Is the first Observations of the 5G base stations; And Respectively the firstHeading angle and pitch angle observation values of the 5G base stations; And Respectively the firstHeading angle and pitch angle of each 5G base station; and receiving performance monitoring point coordinates for the ground object.
Pseudo-range observance, TDOA and course angleAnd pitch angleThe observation matrices of (a) are respectively:
;
;
;
;
In the formula, An observation matrix for the observed quantity of the pseudo-range; An observation matrix for TDOA observables; an observation matrix for a course angle; is an observation matrix of pitch angle; Receiving performance monitoring point coordinates for the ground object; for pseudorange observations ;Is the firstTDOA values between the 1 st 5G base station; And Respectively the firstHeading angle and pitch angle of each 5G base station.
The observation matrix is expressed as a matrix form:
;
the observation residual equation set is:
;
solving the observation residual equation set to obtain a unique iteration solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point:
;
wherein, For the observation residual of each iteration,To design a matrix; Receiving performance monitoring point coordinates for the ground object; The clock error is the ground object receiving performance monitoring point.
The elements are as follows:
;
;
;
;
;
after iteration to convergence, obtaining the unique optimal positioning estimation solution of the ground object receiving performance monitoring point as The iterative equation is:
;
In the formula, Receiving performance monitoring point coordinates for the ground object; Clock error for ground object receiving performance monitoring points; An optimal positioning estimation solution unique to the ground object receiving performance monitoring point; And (5) positioning and estimating a solution for the ground object receiving performance monitoring point loop iteration.
S4.1.3A resolving procedure of positioning accuracy as shown in FIG. 3
1) The data processing system utilizes the observed quantity information to calculate the positioning position result of the receiving performance monitoring point of the location object, and the specific calculating method is given in detail in the above description;
2) Comparing the real position information of the ground object receiving performance monitoring point with a positioning calculation result, wherein the difference value of the real position information and the positioning calculation result is a positioning precision deviation in a unified coordinate system, and the unit is m;
3) Comprehensively displaying the positioning precision of ground object receiving performance monitoring points and calculating horizontal errors Will be assembledThe elements are ordered from small to large to obtain an ordered setWill be assembledThe elements are ordered from small to large to obtain an ordered set;
4) The horizontal positioning accuracy deviation isThe deviation of the elevation positioning precision is thatWherein,In order to perform the rounding operation,Is the total epoch number.
S4.2 visible satellite number
S4.2.1 principle analysis
The number of visible satellites refers to the number of observation satellites which can be received by a monitoring data acquisition system at the position of a ground object receiving performance monitoring point, and is related to the cut-off height angle of a received satellite signal, the cut-off height angle is reduced, and the number of visible satellites is increased.
S4.2.2 method of resolving
Under the condition of influence factors such as shadow, shielding, fading and the like, a single GNSS global satellite navigation system can have the condition of insufficient satellite visible number, the satellite visible number is directly related to the cut-off height angle, the cut-off height angle is reduced, and the visible satellite number is increased.
S4.2.3 visible satellite number calculation flow, as shown in FIG. 4
1) The data processing system outputs the number of visible satellites;
2) Respectively counting the number of visible satellites with cut-off height angles of 10 degrees, 15 degrees, 30 degrees, 40 degrees and 45 degrees according to the system types;
3) And comprehensively displaying the visible satellite number results.
S4.3 DOP value Condition analysis
S4.3.1 principle analysis
DOP value refers to an accuracy attenuation factor, and in this embodiment, the DOP value monitoring result specifically includes:
PDOP (three-dimensional position accuracy factor);
The DOP value reflects a proportionality coefficient between a pseudo-range error and a monitoring point position error caused by the influence of geometric space layout on an observed quantity source and a ground object receiving performance monitoring point, is an important index for evaluating the position information precision, and indicates the contribution degree of the observed value to position information calculation.
S4.3.2 method of resolving
Three-dimensional coordinate position of ground object receiving performance monitoring pointThe three-dimensional coordinate positions of the observed quantity sources (the observed satellite and the 5G base station) are respectively、Assuming a matrix:
;
In the formula,Three-dimensional coordinate positions of the ground object receiving performance monitoring points,Observing the three-dimensional coordinate position of the satellite; The three-dimensional coordinate position of the 5G base station; For the distance between the ground object receiving performance monitoring point and the satellite ;Is the distance between the ground object receiving performance monitoring point and the 5G base station。
Matrix arrayThe first three columns are direction cosine vectors between ground object receiving performance monitoring points and observation satellites and 5G base stations respectively.
Under the condition that the observed value error is zero mean value, the matrix Q is:
;
By using Representing diagonal matrixThe first on the middle diagonalElements, PDOP solution equation:
;
s4.3.3 DOP value calculation flow, as shown in FIG. 5:
1) The data processing system outputs DOP value;
2) Counting GNSS/5G fusion positioning total epoch digital precision factors PDOP;
3) And comprehensively displaying DOP value monitoring results.
Example 2
As shown in fig. 2, the embodiment discloses a service performance monitoring system based on GNSS/5G fusion position information, which comprises the following components:
The system comprises a monitoring data acquisition system, a data processing system, an internet security encryption transmission system, a cloud service platform, a data storage and sharing system and a mobile monitoring platform;
The monitoring data acquisition system selects ground object points as receiving performance monitoring points, gathers ground object receiving performance monitoring point real position information, 5G base station real position information, receives satellite navigation signal original acquisition data, 5G signal arrival Time (TOA) and 5G signal arrival Direction (DOA), and prepares for forwarding to the data processing system;
The serial port of the data processing system receives the original acquisition data of the received satellite navigation signals output by the monitoring data acquisition system, and the data transmission chain format is divided according to the GNSS satellite navigation signals on the data type, and specifically comprises the following steps:
1) Beidou B1I, B C-data, B1C-pilot, B2a-data, B2a-pilot and B2B-I, B I;
2)GPS:L1C/A、L1C-data、L1C-pilot、L2C-data、L2C-pilot、L5I、L5Q;
3)GLONASS:G1C/A、G2C/A、G3OC;
4)Galileo:E1OS、E5a-data、E5a-pilot、E5b-data、E5b-pilot;
The serial port receives the 5G signal arrival Time (TOA) and the 5G signal direction of arrival (DOA) output by the monitoring data acquisition system, captures and tracks all received satellite navigation signal data, acquires navigation message data and pseudo-range observed quantity, and combines the real position information of the 5G base station, the 5G signal TOA and the DOA information to acquire a final positioning calculation result, a visible satellite number monitoring result and a DOP value monitoring result;
The secure network is a secure network which is formed by connecting data of a terminal of a data processing system with an edge, an encryption and a transparent gateway, realizes that the data is compliant with a quantum cryptography protocol, a public protocol and a private protocol from the terminal, and is transmitted to a gateway cluster of a cloud service platform through blockchain authentication, and different data is transmitted to the cloud service platform through different transmission gateways such as a host communication gateway, a grid gateway, an integrity detection gateway, an equipment gateway, a secure (encryption and decryption) gateway and the like to realize data persistence;
the cloud service platform gathers GNSS/5G fusion position information service performance monitoring evaluation analysis and abnormal situation analysis, and specifically comprises the following steps:
The system comprises a position information service, a DOP value position accuracy factor condition analysis, an abnormal condition, a comprehensive cloud service platform, a position information service analysis and processing module and a position information service analysis module, wherein the position information service comprises a GNSS/5G fusion positioning service, a GNSS visible satellite number, a DOP value position accuracy factor condition analysis and an abnormal condition, wherein the monitoring, evaluation and analysis module is used for evaluating and analyzing the position information service by the comprehensive cloud service platform and displaying the analysis and processing result;
The data storage and sharing system refers to a system server provided with a disk array, wherein the stored data comprises real-time data and post-processing data acquired by a monitoring data acquisition system, intermediate service data of a service performance monitoring system, such as data processing and evaluation analysis results, operation logs, fault information, alarm logs and the like of the monitoring system, archiving and backup data storage according to categories, and providing data inquiry, extraction, data form modification, output and playback functions;
the mobile monitoring platform distributes the data result processed and analyzed by the cloud service platform on the cloud service platform network in a web form, and the mobile monitoring platform (client) can directly access the platform network so as to realize the functions of display and inquiry.
As a further embodiment of the method of the present invention,
The embodiment also discloses a construction method of the service performance monitoring system based on GNSS/5G fusion position information, which comprises the following steps:
The method comprises the steps of S1, monitoring data acquisition, selecting ground object receiving performance monitoring points, and monitoring GNSS/5G fusion position information service performance, wherein the GNSS/5G fusion position information service performance monitoring is specifically composed of a space layer and a data acquisition layer, wherein the space layer refers to GNSS satellites and 5G base stations and mainly comprises GPS, GLONASS, galileo, beidou and other satellite navigation positioning systems;
S2, preprocessing the output data according to a protocol, dividing a data transmission chain format according to GNSS satellite navigation signals by data types, performing capturing and tracking processing on the data transmission chain format to obtain navigation message data and pseudo-range observables, combining the real position information of the 5G base station, the TOA (time of arrival) and DOA (data of arrival) information of the 5G signals to obtain a final positioning calculation result, a visible satellite number monitoring result and a DOP value monitoring result, and packaging, encrypting and transmitting the final positioning calculation result, the visible satellite number monitoring result and the DOP value monitoring result to a cloud service platform;
S3, data encryption communication is transmitted to a cloud service platform through a secure communication network, and mainly comprises edges, encryption and transparent gateways of terminal equipment of a data processing system, so that data are encoded according to various protocols such as quantum cryptography protocol, public protocol and private protocol, and the like from a terminal, and the data are safely and reliably transmitted to a gateway cluster of the cloud service platform end through a block chain authentication and quantum encryption communication technology;
And S4, analyzing and processing the received data by the cloud service platform, and comprehensively displaying the evaluation and analysis results, wherein the display content specifically comprises GNSS/5G fusion position information service performance monitoring evaluation analysis, abnormal condition analysis, equipment state and the like.
Example 3
The embodiment discloses a service performance monitoring system based on GNSS/5G fusion position information, comprising:
The data acquisition module is configured to acquire ground object receiving performance monitoring point real position information, 5G base station real position information, 5G signals TOA and 5G signals DOA and received satellite navigation signal original acquisition data output by the monitoring data acquisition terminal;
A capture module configured to perform a capture process on the acquired data to obtain a coarse code phase value and a carrier frequency of a received satellite navigation signal;
The tracking module is configured to execute tracking processing according to the acquired data, the rough code phase value and the carrier frequency obtained by the capturing processing, and acquire navigation text data and pseudo-range observed quantity of the instant I branch component demodulation of the received satellite navigation signal;
The positioning module is configured to obtain a unique solution of the three-dimensional space coordinate position of the ground object receiving performance monitoring point by a least square absolute single-point positioning solution method according to the obtained navigation message data and pseudo-range observed quantity and combining the real position information of the 5G base station, the TOA of the 5G signal and the DOA of the 5G signal, and the unique solution is used as a positioning solution result;
The visible satellite number module is configured to count the visible satellite numbers of a plurality of cut-off height angles according to the class of the GNSS satellite navigation positioning system according to the positioning resolving result to obtain a visible satellite number monitoring result;
and the DOP value module is configured to count GNSS/5G fusion positioning total epoch digital precision factors according to the positioning calculation result to obtain a DOP value monitoring result.
Example 4
A computer readable storage medium has stored therein a plurality of instructions adapted to be loaded and executed by a processor of a terminal device to provide a GNSS/5G fusion location information based service performance monitoring method according to the present embodiment.
Example 5
A terminal device comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions, the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded and executed by the processor to provide a service performance monitoring method based on GNSS/5G fusion position information.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
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