CN104049261A - Method and device for processing monitoring data based on GRIMS - Google Patents
Method and device for processing monitoring data based on GRIMS Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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Abstract
The invention provides a method and device for processing monitoring data based on a GRIMS. The processing method comprises the steps that a request is obtained according to the monitoring data sent by a user terminal, first satellites are monitored by at least four monitor stations at the same time in all satellites in a visual area of the user terminal, if the fact that the first proportion of overage areas of the first satellites to the visual area of the user terminal is larger than a proportion threshold value is judged, the average value of the projection distances of the user terminal in the directions of the at least four monitor stations is obtained according to the ephemeris errors of the first satellites, if the average value is judged to be larger than a distance threshold value, the number of the first satellites and the geometric distribution of the positions of the first satellites in the user terminal are obtained, and if the geometric distribution is judged to be larger than a distribution threshold value and the number of the satellites is larger than or equal to four, the current monitored data monitored by the GRIMS are obtained, and the monitoring data are sent to the user terminal. Accuracy of the monitoring data issued by the GRIMS and user experience are improved.
Description
Technical Field
The embodiment of the invention relates to a satellite navigation technology, in particular to a method and a device for processing Monitoring data based on a Ground-based Regional Integrity Monitoring System (GRIMS).
Background
In order to improve the integrity of a Global Navigation Satellite System (GNSS) and meet the requirements of high-precision users, a ground area integrity monitoring System is used for monitoring GNSS Navigation satellites and publishing availability information of the GNSS Navigation satellites.
In the prior art, a ground area integrity monitoring system mainly comprises a ground integrity monitoring network and an integrity issuing system, wherein the ground integrity monitoring network mainly comprises monitoring stations, reference stations and a main control station, and the reference stations mainly have the functions of primarily judging satellite integrity according to received local observation data. The GNSS monitoring receiver of the reference station receives a space signal of a satellite navigation system to obtain data such as ephemeris data, satellite pseudo range, precise time and the like, the data processing computer calculates satellite position, satellite elevation angle and azimuth forecast of the current time by using the received satellite ephemeris and almanac to judge whether the satellite is visible or not, calculates geometric factors of all visible satellites or selected satellites, calculates ionospheric errors of the satellites according to the precise position of the monitoring station, and obtains whether the visible satellites with the elevation angle of more than 8 degrees are usable or not. The method comprises the steps that a main control station receives data of monitoring stations, comprehensive judgment is conducted on the integrity of all observation satellites, the main control station receives monitoring station satellite integrity messages sent by all the monitoring stations, comprehensive processing is conducted on the monitoring data of the monitoring stations in the integrity messages, whether visible satellites in the coverage range of a ground area integrity monitoring system are available or not is obtained, and the current monitoring data of the ground area integrity monitoring system are sent to a user terminal.
However, because the user terminal has a certain geographical difference from the monitoring station in the ground integrity detection network, and data such as errors of ephemeris data and satellite pseudo-range have a certain position correlation, and not all satellites in the visible satellites of the user terminal can be effectively monitored, the accuracy of the monitoring data issued by the ground area integrity monitoring system is low, and the user experience is poor.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing monitoring data based on a GRIMS (generalized minimum mean square), which are used for overcoming the problem of lower accuracy of the monitoring data of a ground area integrity monitoring system caused by the position difference between a user terminal and a monitoring station and the effectiveness of satellite monitoring in the prior art, improving the accuracy of the monitoring data issued by the GRIMS and improving the user experience.
A first aspect of an embodiment of the present invention provides a method for processing monitoring data based on a GRIMS, including:
judging whether a first ratio is larger than a preconfigured ratio threshold or not according to a monitoring data acquisition request sent by a user terminal, wherein the first ratio is the ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite which is monitored by at least four monitoring stations simultaneously in all satellites in the visible area of the user terminal;
if the first ratio is larger than the ratio threshold, acquiring an average value of the projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite, and judging whether the average value is larger than a preset distance threshold;
if the average value is larger than the distance threshold, acquiring the number of the satellites of the first satellite and the geometric distribution of the first satellite at the position of the user terminal, and judging whether the geometric distribution is larger than a preset distribution threshold;
and if the geometric distribution is larger than the distribution threshold and the number of the satellites is larger than or equal to four, acquiring the monitoring data currently monitored by the GRIMS and sending the monitoring data to the user terminal.
A second aspect of the embodiments of the present invention provides a device for processing monitoring data based on a GRIMS, including:
the first judgment module is used for judging whether a first ratio is larger than a preconfigured ratio threshold or not according to a monitoring data acquisition request sent by a user terminal, wherein the first ratio is the ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite which is monitored by at least four monitoring stations simultaneously in all satellites in the visible area of the user terminal;
the processing module is configured to, if the first determining module determines that the first ratio is greater than the ratio threshold, obtain an average value of projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite;
the second judgment module is used for judging whether the average value is larger than a preset distance threshold or not;
the processing module is further configured to obtain the number of satellites of the first satellite and the geometric distribution of the first satellite at the location of the user terminal if the second determining module determines that the average value is greater than the distance threshold;
the third judging module is used for judging whether the geometric distribution is larger than a preset distribution threshold or not;
the processing module is further configured to obtain currently monitored monitoring data of the GRIMS if the third determining module determines that the geometric distribution is greater than the distribution threshold and the number of satellites is greater than or equal to four;
and the transceiver module is used for sending the monitoring data to the user terminal.
The method and the device for processing monitoring data based on GRIMS provided by the embodiment of the invention determine that the GRIMS monitoring data is usable when all the conditions are met by judging that the GRIMS monitoring data is lower in accuracy caused by the position difference between a user terminal and a monitoring station and the effectiveness of satellite monitoring in the prior art by judging that a first ratio between a coverage area of a first satellite and a visual area of the user terminal is larger than a preset ratio threshold, then obtaining an average value of projection distances of the user terminal in the directions of at least four monitoring stations, further judging that the average value of the projection distances is larger than a preset distance threshold, further obtaining the number of satellites of the first satellite and the geometric distribution of the first satellite at the position of the user terminal, and judging that the geometric distribution is larger than a preset distribution threshold, wherein the number of the satellites is larger than or equal to four, the accuracy of the monitoring data issued by the GRIMS is effectively improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a first embodiment of a method for processing monitoring data based on a GRIMS according to the present invention;
fig. 2 is a flowchart of a second embodiment of a method for processing monitoring data based on a GRIMS according to the present invention;
fig. 3 is a flowchart of a third embodiment of a method for processing monitoring data based on a GRIMS according to the present invention;
fig. 4 is a schematic structural diagram of a first embodiment of a device for processing monitoring data based on a GRIMS according to the present invention;
fig. 5 is a schematic structural diagram of a second embodiment of a device for processing monitoring data based on a GRIMS according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a first embodiment of a method for processing monitoring data based on a GRIMS according to the present invention, and as shown in fig. 1, the method for processing monitoring data based on a GRIMS according to the present embodiment specifically includes the following steps:
s101: according to a monitoring data acquisition request sent by a user terminal, judging whether a first ratio is larger than a preconfigured ratio threshold, wherein the first ratio is the ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite which is monitored by at least four monitoring stations simultaneously in all satellites in the visible area of the user terminal.
In this embodiment, the monitoring network of the GRIMS is used to detect the operation condition of a Global Navigation Satellite System (GNSS) nationwide, receive real-time detection data of the GNSS, perform comprehensive processing to obtain good, accurate and available monitoring data, and finally release the monitoring data to a user.
When a user terminal needs to acquire monitoring data, a monitoring data acquisition request sent by the user terminal is received, and the proportion of the coverage area of a first satellite in the visible area of the user terminal is analyzed, wherein the first satellite is a plurality of satellites, and the satellites can be monitored by at least four monitoring stations at the same time.
S102: if the first ratio is larger than the ratio threshold, acquiring an average value of the projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite, and judging whether the average value is larger than a preset distance threshold.
In this embodiment, if the first ratio determined in S101 is not greater than the ratio threshold, it is determined that the current monitoring data is not available, that is, inaccurate, and no further subsequent processing is required.
If the first ratio is greater than the ratio threshold, further judgment is carried out, the corresponding ephemeris error and the ionosphere error change along with the change of the position of the user terminal, the average value of the projection distances of the user terminal in the directions of the at least four monitoring stations is obtained through the ephemeris error or the ionosphere error, namely the distance between one monitoring station and the user terminal is obtained, the relation between the average value of the projection distances and a preset distance threshold is judged, and the usability of the monitoring data at the moment is determined.
S103: if the average value is larger than the distance threshold, acquiring the number of the satellites of the first satellite and the geometric distribution of the first satellite at the position of the user terminal, and judging whether the geometric distribution is larger than a preset distribution threshold.
In this embodiment, if the average value of the projection distances determined in S102 is not greater than the distance threshold, it is determined that the current monitoring data is not usable, that is, inaccurate, and no further subsequent processing is required.
If the average value of the judged projection distances is larger than the distance threshold, further processing is carried out, the number of the satellites of the first satellite is firstly obtained, namely the number of the total satellites can be monitored by at least four monitoring stations at the moment, the geometric distribution of the position of the user terminal of the first satellite at the moment is obtained, and whether the monitoring data at the moment are available is further judged.
S104: and if the geometric distribution is larger than the distribution threshold and the number of the satellites is larger than or equal to four, acquiring the current monitoring data monitored by the GRIMS and sending the monitoring data to the user terminal.
In this embodiment, if the geometric distribution is not greater than the distribution threshold, or the number of satellites is less than four, the monitoring data at this moment is not available, the determination is finished, the subsequent processing is not performed, and the monitoring data is not sent to the user terminal.
If the geometric distribution is larger than the distribution threshold and the number of the satellites is larger than or equal to four, the fact that the monitoring data at the moment are available is determined through the judgment of the four steps, the accuracy is high, the monitoring data at the moment of the monitoring network in the GRIMS are obtained, and the monitoring data are sent to the user terminal.
In the processing method of monitoring data based on a GRIMS provided in this embodiment, when a first ratio between a coverage area of a first satellite and a visible area of a user terminal is greater than a preset ratio threshold, then an average value of projection distances of the user terminal in directions of at least four monitoring stations is obtained, it is further determined that the average value of the projection distances is greater than a preset distance threshold, then the number of satellites of the first satellite and a geometric distribution of the first satellite in a position of the user terminal are further obtained, and it is determined that the geometric distribution is greater than a preset distribution threshold, and the number of satellites is greater than or equal to four, when all the above conditions are satisfied, it is determined that the monitoring data of the GRIMS is usable, which solves the problem in the prior art that the accuracy of the monitoring data of the GRIMS is low due to a difference in position between the user terminal and the monitoring stations and validity of monitoring of satellite monitoring, the accuracy of the monitoring data issued by the GRIMS is effectively improved, and the user experience is improved.
In the basis of the foregoing embodiment, optionally, if the first ratio is less than or equal to the ratio threshold, stopping processing, and discarding the monitoring data acquisition request; or,
if the average value is less than or equal to the distance threshold, stopping processing and discarding the monitoring data acquisition request; or,
if the geometric distribution is smaller than or equal to the distribution threshold, stopping processing and discarding the monitoring data acquisition request; or,
and if the number of the satellites is less than four, stopping processing and discarding the monitoring data acquisition request.
Fig. 2 is a flowchart of a second embodiment of a method for processing monitoring data based on a GRIMS according to the present invention, as shown in fig. 2, before determining, in S101, whether a first ratio between a coverage area of a first satellite and a visible area of a user terminal is greater than a preconfigured ratio threshold, the method further includes:
s201: obtaining a first total number of location points within a quadruple coverage area within the visible area of the user terminal.
In this embodiment, a national area is gridded by longitude and latitude lines (the longitude and latitude step length is 1 degree), and the total number of location points (grid points) in the quadruple coverage area in the visible area of the user terminal is obtained, which is the first total number.
S202: obtaining a second total number of all location points within the visible area of the user terminal.
S203: and acquiring the first proportion according to the first total number and the second total number.
In this embodiment, the ratio of the quadruple coverage area (i.e. the monitoring area capable of being monitored by at least four monitoring stations) in the visible area of the user terminal at each location point (i.e. the grid point) is calculated, and the ratio of the first total number to the second total number is the first ratio.
The processing method for monitoring data based on a GRIMS according to this embodiment obtains a first ratio by obtaining a first total number of all location points in a quadruple coverage area in a visible area of a user terminal and a second total number of all location points in the visible area of the user terminal, and when it is determined that a first ratio between a coverage area of a first satellite and a visible area of the user terminal is greater than a preconfigured ratio threshold, then obtains an average value of projection distances of the user terminal in directions of at least four monitoring stations, further determines that the average value of the projection distances is greater than a preset distance threshold, further obtains a satellite number of the first satellite and a geometric distribution of the first satellite at a location of the user terminal, and determines that the geometric distribution is greater than a preset distribution threshold, and the satellite number is greater than or equal to four, when all the conditions are met, the monitoring data of the GRIMS are confirmed to be available, the problem that the accuracy of the monitoring data of the GRIMS is low due to the position difference between a user terminal and a monitoring station and the effectiveness of satellite monitoring in the prior art is solved, the accuracy of the monitoring data issued by the GRIMS is effectively improved, and the user experience is improved.
Fig. 3 is a flowchart of a third embodiment of a processing method for monitoring data based on a GRIMS, and based on the above embodiment, this embodiment specifically illustrates an example to describe in detail the process of the processing method, specifically:
s301: and receiving a monitoring data acquisition request sent by a user terminal.
S302: obtaining a first total number of location points within a quadruple coverage area within the visible area of the user terminal.
In this embodiment, position points in the quadruple coverage area detected by at least four monitoring stations in the visible area of the user terminal need to be acquired, and when an included angle between the designated position and the monitoring station relative to the geocenter is smaller than the current geocenter angle, the designated position can be monitored by the monitoring station. According to the method, all the position points in the visual area of the user terminal are calculated in a traversing mode, and the total number of the position points which can be monitored by at least four monitoring stations in the visual area, namely the first total number, is obtained. The current quadruple coverage area may also be represented as a set of location points monitored by at least four monitoring stations.
The geocentric angle when the quadruple coverage area is calculated can be obtained according to the following formula:
where R represents the earth radius and R represents the satellite orbital radius.
S303: obtaining a second total number of all location points within the visible area of the user terminal.
In this embodiment, the geocentric angle when the visible area of the user terminal is calculated may be obtained according to the following formula:
where R represents the earth's radius, R represents the satellite orbital radius, and h represents the height of the user terminal to the earth's surface.
S304: and acquiring the first proportion according to the first total number and the second total number.
S305: and judging whether a first ratio of the coverage area of the first satellite to the visible area of the user terminal is greater than a preset ratio threshold or not.
In this embodiment, the first satellite is a satellite monitored by at least four monitoring stations simultaneously from all satellites in the visible area of the user terminal.
S306: if the first ratio is larger than the ratio threshold, acquiring an average value of the projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite, and judging whether the average value is larger than a preset distance threshold.
In this embodiment, a three-dimensional ephemeris error vector may be specifically simulated by a three-dimensional gaussian-markov process, and ephemeris errors of a plurality of first satellites are assumed to be shown in table 1 below:
TABLE 1 ephemeris error Table for a period of time for a first satellite
S307: if the average value is larger than the distance threshold, acquiring the number of the satellites of the first satellite and the geometric distribution of the first satellite at the position of the user terminal, and judging whether the geometric distribution is larger than a preset distribution threshold.
In the embodiment, the position unit vector of each satellite in the ECEF coordinate system on each position point of the user terminal is calculatedPosition vector under ENU coordinate system through coordinate transformationElevation angle of user terminal to satelliteAnd when the e is more than or equal to 5 degrees, the satellite is visible at the position point of the user terminal at the moment, all satellites are calculated in a traversal mode according to the mode, and the number of the satellites of the first satellite in the visible area of the user terminal is judged.
The main steps of obtaining the geometric distribution of each satellite in the first satellites at the position of the user terminal are as follows:
(1) and calculating and acquiring a position unit vector from the user terminal to each satellite in the first satellites.
For example: calculating a unit vector of position of the user to the ith first satelliteThe method is the same asReferring to the prior art, i represents the ith first satellite, and if the number of satellites is n, n ≧ i ≧ 0.
(2) And generating a position matrix of the first satellite according to the position unit vector.
According to the position unit vectorThe generated position matrix is: <math>
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(3) and acquiring the geometric distribution of each satellite in the first satellite at the position of the user terminal according to the position matrix.
Obtaining a position covariance matrix according to the position matrix is as follows: h ═ G '(G' G)-1。
The geometric distribution mainly includes at least one of a geometric precision factor, a three-dimensional positioning ambiguity, a horizontal positioning ambiguity, a height positioning ambiguity, and a time positioning ambiguity. The specific calculation formula is as follows:
PDOP represents the three-dimensional positioning ambiguity;
HDOP represents horizontal positioning ambiguity;
VDOP represents height positioning ambiguity;
TDOP represents time-location ambiguity.
And after the geometric distribution is obtained, judging whether the geometric distribution is larger than a preset distribution threshold.
S308: and if the geometric distribution is larger than the distribution threshold and the number of the satellites is larger than or equal to four, acquiring the current monitoring data monitored by the GRIMS.
In this embodiment, if all the conditions are satisfied, it may be determined that the monitoring data of the monitoring network in the GRIMS is available at this moment.
S309: and sending the monitoring data to the user terminal.
In the processing method of monitoring data based on a GRIMS provided in this embodiment, when a first ratio between a coverage area of a first satellite and a visible area of a user terminal is greater than a preset ratio threshold, then an average value of projection distances of the user terminal in directions of at least four monitoring stations is obtained, it is further determined that the average value of the projection distances is greater than a preset distance threshold, then the number of satellites of the first satellite and a geometric distribution of the first satellite in a position of the user terminal are further obtained, and it is determined that the geometric distribution is greater than a preset distribution threshold, and the number of satellites is greater than or equal to four, when all the above conditions are satisfied, it is determined that the monitoring data of the GRIMS is usable, which solves the problem in the prior art that the accuracy of the monitoring data of the GRIMS is low due to a difference in position between the user terminal and the monitoring stations and validity of monitoring of satellite monitoring, the accuracy of the monitoring data issued by the GRIMS is effectively improved, and the user experience is improved.
Fig. 4 is a schematic structural diagram of a first embodiment of a device for processing monitoring data based on a GRIMS according to the present invention, as shown in fig. 4, the device includes: a first determining module 41, configured to determine, according to a monitoring data acquisition request sent by a user terminal, whether a first ratio is greater than a preconfigured ratio threshold, where the first ratio is a ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite that is monitored by at least four monitoring stations simultaneously among all satellites in the visible area of the user terminal;
a processing module 42, configured to, if the first determining module determines that the first ratio is greater than the ratio threshold, obtain an average value of projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite;
a second judging module 43, configured to judge whether the average value is greater than a preset distance threshold;
the processing module 42 is further configured to, if the second determining module 43 determines that the average value is greater than the distance threshold, obtain the number of satellites of the first satellite and the geometric distribution of the first satellite at the location of the user terminal;
a third determining module 44, configured to determine whether the geometric distribution is greater than a preset distribution threshold;
the processing module 42 is further configured to obtain currently monitored monitoring data of the GRIMS if the third determining module 44 determines that the geometric distribution is greater than the distribution threshold and the number of satellites is greater than or equal to four;
and the transceiver module 45 is configured to send the monitoring data to the user terminal.
The processing apparatus for monitoring data based on a GRIMS according to this embodiment is used to execute the method according to the embodiment of the method shown in fig. 1, and the principle and the technical effect are similar, which are not described herein again.
Fig. 5 is a schematic structural diagram of a second embodiment of the device for processing monitoring data based on a GRIMS according to the present invention, as shown in fig. 5, the processing module 42 is further configured to stop processing and discard a monitoring data acquisition request if the first determining module 41 determines that the first ratio is smaller than or equal to the ratio threshold; or,
the processing module 42 is further configured to stop the processing and discard the monitoring data obtaining request if the second determining module 43 determines that the average value is smaller than or equal to the distance threshold; or,
the processing module 42 is further configured to stop processing and discard the monitoring data obtaining request if the third determining module 44 determines that the geometric distribution is smaller than or equal to the distribution threshold; or,
the processing module 42 is further configured to stop processing and discard the monitoring data obtaining request if the third determining module 44 determines that the number of the satellites is less than four.
Optionally, the apparatus further comprises: an obtaining module 46, configured to obtain a first total number of location points in a quadruple coverage area within the visible area of the user terminal;
the obtaining module 46 is further configured to obtain a second total number of all location points within the visible area of the user terminal;
the obtaining module 46 is further configured to obtain the first ratio according to the first total number and the second total number.
Optionally, the processing module 42 is specifically configured to:
calculating and acquiring a position unit vector of the user terminal to each satellite in the first satellites;
generating a position matrix of the first satellite according to the position unit vector;
and acquiring the geometric distribution of each satellite in the first satellites at the position of the user terminal according to the position matrix.
Optionally, the geometric distribution obtained by the processing module 46 includes: at least one of a geometric accuracy factor, a three-dimensional positioning ambiguity, a horizontal positioning ambiguity, a height positioning ambiguity, and a time positioning ambiguity.
The processing apparatus for monitoring data based on a GRIMS according to this embodiment is used to execute the method according to the method embodiments shown in fig. 1 to fig. 3, and the principle and the technical effect are similar, which are not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A monitoring data processing method based on GRIMS is characterized by comprising the following steps:
judging whether a first ratio is larger than a preconfigured ratio threshold or not according to a monitoring data acquisition request sent by a user terminal, wherein the first ratio is the ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite which is monitored by at least four monitoring stations simultaneously in all satellites in the visible area of the user terminal;
if the first ratio is larger than the ratio threshold, acquiring an average value of the projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite, and judging whether the average value is larger than a preset distance threshold;
if the average value is larger than the distance threshold, acquiring the number of the satellites of the first satellite and the geometric distribution of the first satellite at the position of the user terminal, and judging whether the geometric distribution is larger than a preset distribution threshold;
and if the geometric distribution is larger than the distribution threshold and the number of the satellites is larger than or equal to four, acquiring the monitoring data currently monitored by the GRIMS and sending the monitoring data to the user terminal.
2. The method of claim 1, further comprising:
if the first ratio is smaller than or equal to the ratio threshold, stopping processing and discarding the monitoring data acquisition request; or,
if the average value is less than or equal to the distance threshold, stopping processing and discarding the monitoring data acquisition request; or,
if the geometric distribution is smaller than or equal to the distribution threshold, stopping processing and discarding the monitoring data acquisition request; or,
and if the number of the satellites is less than four, stopping processing and discarding the monitoring data acquisition request.
3. The method of claim 2, wherein before determining whether the first ratio is greater than a preconfigured ratio threshold, the method further comprises:
obtaining a first total number of location points within a quadruple coverage area within the visible area of the user terminal;
obtaining a second total number of all location points within the visible area of the user terminal;
and acquiring the first proportion according to the first total number and the second total number.
4. The method of claim 3, wherein the obtaining the geometric distribution of each of the first satellites at the location of the user terminal comprises:
calculating and acquiring a position unit vector of the user terminal to each satellite in the first satellites;
generating a position matrix of the first satellite according to the position unit vector;
and acquiring the geometric distribution of each satellite in the first satellites at the position of the user terminal according to the position matrix.
5. The method of claim 4, wherein the geometric distribution comprises:
at least one of a geometric accuracy factor, a three-dimensional positioning ambiguity, a horizontal positioning ambiguity, a height positioning ambiguity, and a time positioning ambiguity.
6. A processing device of monitoring data based on GRIMS is characterized by comprising:
the first judgment module is used for judging whether a first ratio is larger than a preconfigured ratio threshold or not according to a monitoring data acquisition request sent by a user terminal, wherein the first ratio is the ratio of a coverage area of a first satellite to a visible area of the user terminal, and the first satellite is a satellite which is monitored by at least four monitoring stations simultaneously in all satellites in the visible area of the user terminal;
the processing module is configured to, if the first determining module determines that the first ratio is greater than the ratio threshold, obtain an average value of projection distances of the user terminal in the directions of the at least four monitoring stations according to the ephemeris error of the first satellite;
the second judgment module is used for judging whether the average value is larger than a preset distance threshold or not;
the processing module is further configured to obtain the number of satellites of the first satellite and the geometric distribution of the first satellite at the location of the user terminal if the second determining module determines that the average value is greater than the distance threshold;
the third judging module is used for judging whether the geometric distribution is larger than a preset distribution threshold or not;
the processing module is further configured to obtain currently monitored monitoring data of the GRIMS if the third determining module determines that the geometric distribution is greater than the distribution threshold and the number of satellites is greater than or equal to four;
and the transceiver module is used for sending the monitoring data to the user terminal.
7. The apparatus of claim 6, further comprising:
the processing module is further configured to stop the processing and discard the monitoring data acquisition request if the first determining module determines that the first ratio is less than or equal to the ratio threshold; or,
the processing module is further configured to stop the processing and discard the monitoring data acquisition request if the second determination module determines that the average value is less than or equal to the distance threshold; or,
the processing module is further configured to stop the processing and discard the monitoring data acquisition request if the third determining module determines that the geometric distribution is less than or equal to the distribution threshold; or,
the processing module is further configured to stop the processing and discard the monitoring data acquisition request if the third determining module determines that the number of the satellites is less than four.
8. The apparatus of claim 7, further comprising:
an obtaining module, configured to obtain a first total number of location points in a quadruple coverage area within the visible area of the user terminal;
the obtaining module is further configured to obtain a second total number of all location points within the visible area of the user terminal;
the obtaining module is further configured to obtain the first ratio according to the first total number and the second total number.
9. The apparatus of claim 8, wherein the processing module is specifically configured to:
calculating and acquiring a position unit vector of the user terminal to each satellite in the first satellites;
generating a position matrix of the first satellite according to the position unit vector;
and acquiring the geometric distribution of each satellite in the first satellites at the position of the user terminal according to the position matrix.
10. The apparatus of claim 9, wherein the geometric distribution obtained by the processing module comprises:
at least one of a geometric accuracy factor, a three-dimensional positioning ambiguity, a horizontal positioning ambiguity, a height positioning ambiguity, and a time positioning ambiguity.
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