CN108279425A - The modification method of multipath error during a kind of multi-frequency observation - Google Patents
The modification method of multipath error during a kind of multi-frequency observation Download PDFInfo
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- CN108279425A CN108279425A CN201810082280.3A CN201810082280A CN108279425A CN 108279425 A CN108279425 A CN 108279425A CN 201810082280 A CN201810082280 A CN 201810082280A CN 108279425 A CN108279425 A CN 108279425A
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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
- G01S19/13—Receivers
- G01S19/22—Multipath-related issues
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Abstract
The present invention provides a kind of modification method of multipath error during multi-frequency observation, including：Detection of Cycle-slip value, Detection of Cycle-slip value difference and carrier-to-noise ratio are calculated during multi-frequency observation in real time；If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is less than setting value, and carrier-to-noise ratio is less than setting thresholding, then carrier wave positioning is without occurring cycle slip, and multipath error is no more than one week carrier wavelength, the amendment without multipath error；If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is less than setting thresholding, then cycle slip occurs for carrier wave positioning, and multipath error is no more than one week carrier wavelength, carries out the amendment of multipath error；If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio not less than setting thresholding, then cycle slip occurs for carrier wave positioning, and multipath error is more than one week carrier wavelength, carries out the amendment of multipath error.The present invention can repair multipath effect cumulative errors caused by three frequency carrier phase observed quantities.
Description
Technical field
The present invention relates to technical field of satellite navigation, and in particular to the amendment side of multipath error during a kind of multi-frequency observation
Method.
Background technology
Multipath effect refers to satellite navigation receiver other than it can receive the direct signal of satellite, can also receive direct projection
The phenomenon that signal is because of surrounding objects or a or even more part of reflection signal of ground return.It is deposited between direct signal and reflection signal
In relative phase, relative delay and amplitude characteristic difference, distortion is will produce after superposition, and the signal generated after distortion is to be used for
The signal of positioning, therefore and the error of generation is exactly multipath effect error.Multipath effect principle is as shown in Figure 1.
Multipath effect should be divided into two parts analysis and research to the influence that carrier wave positions, in theory deduction multipath effect to carrying
While wave track loop influences, influence of the multipath effect to carrier phase observed quantity is also considered.
When influence founding mathematical models to multipath effect, a most important reflection signal is only considered, multipath signal can
It is expressed as：
Sm(t)=AC (t) sin (ω0t)+αAC(t+δ)sin(ω0t+θm)
In formula, A indicates that signal amplitude, C () indicate pseudo-code sequence, ω0Indicate that the tranmitting frequency of signal, α indicate multipath
The weak amplitude of signal, δ indicate the delay of multipath signal, θmIndicate that multipath signal is delayed the carrier phase changing value to be formed.
Influence problem for multipath effect to carrier tracking loop, in detail analytical derivation theoretical error, the error
Value can be expressed as：
In formula, R () indicates that pseudo-code auto-correlation function, τ indicate pseudo-code tracing error.
Under usual ambient condition, the signal amplitude of direct wave is greater than the signal amplitude of back wave, with this condition, by upper
Formula is it can be seen that multipath effect influences the error of carrier tracking loop to be no more than 0.25 week carrier wavelength.
Location receiver receives satellite-signal, and the essence for generating carrier phase observed quantity is the solution to integrated Doppler.
Integrated Doppler d φ are Doppler frequency shift fdTo the integral of time, expression formula is：
In formula, d φkIndicate moment epoch k integrated Doppler, it is generally the case that 0 moment of epoch according to receiver with
It is established at the time of track loop-locking, is 0 in this moment setting integrated Doppler.fd(t) indicate that receiver receives satellite letter
Number Doppler frequency shift.
In the case where only considering carrier wave, the direct signal expression formula that receiver receives is：
S (t)=sin (2 π (f0+fd(t))t+θ)
Receiver receive reflection signal expression be：
In formula, f0Indicate satellite-signal nominal mean frequency, fd(t) indicate that the Doppler frequency shift of direct signal, θ indicate straight
The initial phase of signal is penetrated,Indicate the Doppler frequency shift of multipath return, θmIndicate the initial phase of multipath return
Position.Calculate S (t) and Sm(t) integrated Doppler of signal, expression formula are respectively：
In formula, d φkIndicate that S (t) is directed to the integrated Doppler that signal calculates,Indicate Sm(t) integral for being directed to signal is more
Pu Le.Obviously, receiver receives satellite direct signal S (t) and multipath return S simultaneouslym(t), the carrier phase of solution is seen
Measurement is not d φkOrIt is analyzed from another point of view, integrated Doppler is to Doppler frequency shift in following period of time
Integrated value, d φkWithTo influence each other be time to time change, then error of the multipath effect to carrier phase observed quantity
It influences to be also cumulative at any time.
Into line trace, estimating Doppler frequency displacement is for the receiver docking collection of letters number：
In formula,For the Doppler frequency shift of true value,For Doppler frequency estimation error.
Its integrated Doppler is：
In formula,For the integrated Doppler true value to Doppler frequency shift true value integral and calculating,For
Integrated Doppler error, therefore, integrated Doppler errorIt is integral of the multipath to the phase demodulation error of track loop,
Its error is cumulative.
It can be obtained from above-mentioned theory analysis to draw a conclusion：Multipath effect influences the error of carrier tracking loop not equivalent
Error of carrier phase observed quantity is influenced in it, error influence is cumulative at any time caused by multipath effect positions carrier wave
, the cumulative errors that will produce more than one week carrier wavelength influence, and this influence can be according to different frequencies in multi-frequency observation model
The combination of rate carrier wave and change, long wavelength's combination observation amount is the excellent of multi-frequency observation model treatment integer ambiguity and cycle slip problem
Gesture, this undoubtedly further expands the influence of multipath error.It is necessary to be missed to multipath under carrier phase high accuracy positioning demand
Difference is individually handled.
The error of carrier phase observed quantity is influenced by theory analysis multipath effect, it is thus understood that under high accuracy positioning demand
It is necessary to carry out error correction to multipath error in multi-frequency observation model.To solve the problems, such as this, solution key is needed to have at 2 points：
Firstly the need of the condition for finding judgement multipath error generation, the side being modified to error after multipath error is secondly generated in judgement
Method.
Invention content
The purpose of the present invention is to provide a kind of modification methods of multipath error during multi-frequency observation.
Technical solution is as follows：
The modification method of multipath error during a kind of multi-frequency observation, including：
Detection of Cycle-slip value, Detection of Cycle-slip value difference and carrier-to-noise ratio are calculated during multi-frequency observation in real time；
According to Detection of Cycle-slip value difference and carrier-to-noise ratio, whether real-time judge carries out the amendment of multipath error：
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is less than setting value, and carrier-to-noise ratio is less than setting thresholding, then carries
Wave positioning is without occurring cycle slip, and multipath error is no more than one week carrier wavelength, the amendment without multipath error；
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is less than setting thresholding, then
Cycle slip occurs for carrier wave positioning, and multipath error is no more than one week carrier wavelength, carries out the amendment of multipath error；
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is not less than setting thresholding,
Cycle slip occurs for then carrier wave positioning, and multipath error is more than one week carrier wavelength, carries out the amendment of multipath error.
Detection of Cycle-slip value is calculated during the multi-frequency observation in real time, including：
It is legal according to three frequency pseudorange phase-groups, calculate the integer ambiguity of three frequency pseudorange phase combination observations；
It is poor to make between the integer ambiguity epoch of three frequency pseudorange phase combination observations, obtains the sight of three frequency pseudorange phase combinations
The Detection of Cycle-slip value of measured value.
If the ratio of the Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is less than setting door
Cycle slip occurs for limit, then carrier wave positioning, and multipath error is no more than one week carrier wavelength, carries out the amendment of multipath error；It is specific to correct
Mode is：The cycle slip of three frequency pseudorange phase combination observations is superimposed on the basis of former three frequency combination carrier phase observations observe value expression
Probe value.
If the ratio of the Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is not less than setting door
Limit, then cycle slip occurs for carrier wave positioning, and multipath error is more than one week carrier wavelength, carries out the amendment of multipath error；It is specific to correct
Mode is：The cycle slip of three frequency pseudorange phase combination observations is superimposed on the basis of former three frequency combination carrier phase observations observe value expression
Probe value and the multipath signal of delay.
The thresholding is determined by following emulation experiment method：
Emulation experiment inputs three kinds of signals：Direct signal, reflection signal and mixed signal；
Three kinds of signals are handled into line trace and estimate carrier-to-noise ratio；
The carrier phase observed quantity of the carrier phase observed quantity and the direct signal actually entered of tracking processing direct signal
Unanimously, the carrier-to-noise ratio that tracking processing direct signal solves is consistent with the carrier-to-noise ratio of the direct signal actually entered；
The carrier phase observed quantity of the carrier phase observed quantity and the reflection signal actually entered of tracking processing reflection signal
Unanimously, at the same track processing reflection signal solve carrier-to-noise ratio it is consistent with the reflection signal carrier-to-noise ratio actually entered；
The carrier phase of the tracking processing mixed signal carrier phase observed quantity solved and the direct signal actually entered is seen
It measures, the difference between carrier phase observed quantity with the direct signal actually entered is both that multipath effect observes carrier phase
The error of amount influences, and the carrier phase observed quantity that tracking processing signal solves is not equal to the carrier wave phase of the direct signal actually entered
Position observed quantity, difference are multipath to carrier phase observed quantity error, if error has been more than 1 week carrier wavelength, according to the mistake
The carrier-to-noise ratio that tracking mixed signal solves when difference generates mutation determines thresholding, which is more than the carrier-to-noise ratio solved.
Advantageous effect：
The present invention can repair multipath effect cumulative errors caused by three frequency carrier phase observed quantities, and it is more to compensate for tradition
The defect of frequency positioning, positioning accuracy is further improved on the basis of high accuracy positioning.Inhibit more compared to from equipment angle
The drawback that diameter is harsh to receiver addressing demand, hardware requirement is stringent, the method has wider applicability, compared to traditional
Off-line data processing method has more accurate amendment precision, has certain superiority.
Description of the drawings
Fig. 1 is multipath effect schematic diagram；
Fig. 2 is the carrier phase observed quantity for tracking three kinds of input signals in the specific embodiment of the invention and solving；
Fig. 3 is the carrier-to-noise ratio for tracking three kinds of input signals in the specific embodiment of the invention and solving；
Fig. 4 is the multipath error before being corrected in the specific embodiment of the invention；
Fig. 5 is revised multipath error in the specific embodiment of the invention；
Fig. 6 is the modification method flow chart of multipath error during multi-frequency observation in the specific embodiment of the invention.
Specific implementation mode
It elaborates below in conjunction with the accompanying drawings to the specific implementation mode of the present invention.
The modification method of multipath error during a kind of multi-frequency observation, as shown in fig. 6, including：
Detection of Cycle-slip value, Detection of Cycle-slip value difference and carrier-to-noise ratio are calculated during step 1, multi-frequency observation in real time；
Detection of Cycle-slip value is calculated during the multi-frequency observation in real time, including：
Step 1-1, legal according to three frequency pseudorange phase-groups, calculate the integral circumference ambiguity of three frequency pseudorange phase combination observations
Degree；
Observational equation expression formula is used by three frequency pseudorange phase-groups are legal：
In formula：λijkIndicate the carrier wavelength of three frequency combination carrier phase observation observations；(i, j, k) indicates three frequency carrier phases
The coefficient of combination observation；Indicate three frequency combination carrier phase observation observations；At a distance from ρ indicates satellite between observation station；Nijk
Indicate the integer ambiguity of three frequency pseudorange phase combination observations；T indicates tropospheric delay error；I1It indicates in B1 reference frequencies
Ionosphere delay error；PabcIndicate three frequency pseudorange phase combination observations；(a, b, c) indicates that three frequency pseudorange phase combinations are seen
The coefficient of measured value, in the case where a+b+c=1 and (a, b, c) are not zero can minimum limit weaken geometric position to carrier wave position
Influence；Indicate the ionosphere delay coefficient of three frequency combination carrier phase observation observations, λ1λ2λ3
The carrier wavelength of three frequency ranges is indicated respectively；Indicate three frequency pseudorange phase combination observations
Ionosphere delay coefficient；εijkIndicate the observation noise of three frequency combination carrier phase observation observations；εabcIndicate three frequency pseudorange phase-groups
Close the observation noise of observation.
Difference is made to two formulas in three frequency pseudorange phase combination observational equations, three frequency pseudorange phase combination observations are calculated
Integer ambiguity：
Step 1-2, it is poor to make between the integer ambiguity epoch of three frequency pseudorange phase combination observations, obtains three frequency pseudorange phases
The Detection of Cycle-slip value of bit combination observation：
In formula：It indicates to make three poor frequency combination carrier phase observation observations between integer ambiguity epoch；△εijkIndicate whole
Make the observation noise of three frequency combination carrier phase observation observations of difference between all fuzziness epoch；△εabcIndicate integer ambiguity epoch
Between make difference three frequency pseudorange phase combination observations observation noise；△I1It indicates to make poor ionization in B1 reference frequencies between epoch
Layer delay error；△PabcIt indicates to make three poor frequency pseudorange phase combination observations between integer ambiguity epoch；ηijk,abc=(ηabc
+ηijk)/λijkIndicate the ionosphere delay error coefficient of three frequency pseudorange phase combination observations.
It, can be by η by the selection of coefficient (i, j, k) and (a, b, c)ijk,abcVery little is controlled, by improving sampling frequency
Rate can ignore △ I1Influence.With this condition, the Detection of Cycle-slip value of three frequency pseudorange phase combination observations is expressed as：
The Detection of Cycle-slip value difference is calculated using following formula：
Wherein,Indicate the Detection of Cycle-slip value difference of three frequency pseudorange phase combination observations, σεIndicate three frequency carrier wave phases
The observation noise standard deviation of position observation.The observation noise standard deviation of three frequency carrier phase observation datas is equal and is σε, three frequency puppets
Observation noise standard deviation away from phase combination observation is also equal and is σe。
The carrier-to-noise ratio is calculated using following formula：
Wherein,Indicate that carrier-to-noise ratio, C indicate that carrier signal power, N indicate that noise power, A indicate navigation satellite signal
Amplitude, D (r (n))=C+N.
The derivation of carrier-to-noise ratio formula is as follows：
Navigation satellite signal expression formula is：S (t)=AC (t) D (t) cos [(ωi+△ω)t+φi]
In formula：A indicates navigation satellite signal amplitude；C (t) indicates Pseudo-Random Noise Code；D (t) indicates navigation satellite signal
Numeric data code；ωiIndicate carrier frequency；△ ω indicate frequency drift amount；φiExpression carrier frequency is ωiNavigation satellite signal
Phase, t indicate the moment.
Expressions of noise：N (t)=x (t) cos ωit-y(t)sinωit
In formula, x (t) and y (t) indicate coefficient expressions.
I, Q two paths of data I of track loop outputi、QiExpression formula：
Ii=I3,si+I3,ni, Qi=Q3,si+Q3,ni
Wherein：
Track loop output signal expression be：
In formula, DiIndicate data channel text；Cumulative quantity ME=T/TS, T indicate that accumulation interval, TS indicate the sampling interval；
△φiIndicate that receiver receives the phase difference between signal and local signal, as △ φiInfluence can be ignored
When：
Track loop output expressions of noise be：
By I3,si、Q3,si、I3,niAnd Q3,niSubstitute into formula Ii=I3,si+I3,niAnd Qi=Q3,si+Q3,niIn：
The signal that receiver receives：R (t)=s (t)+n (t)
The signal r (t) that receiver receives obeys zero-mean gaussian distribution, and the discrete domain of r (t), s (t) and n (t) are set
It is set to r (n), s (n) and e (n), can be obtained：
D (r (n))=E (r (n)2)-(E(r(n)))2
=E (r (n)2)=E ((s (n)+e (n))2)
=E ((s (n))2)+2E(s(n)·e(n))+E((e(n))2)
=C+N
As available from the above equation：N=E (r (n)2)-C
When using BPSK modulation systems, D (n)=± 1 enables x (t) discrete domain expression formula x (n)=I3,si, according to DFT public affairs
Shi Ke get：
From the above equation, we can see that being that X (k) takes maximum at zero in frequency：
Then periodic signal power：
Then carrier signal power：
Carrier-to-noise ratio estimator：In formula：N0Indicate noise
Power spectral density；BNIndicate the noise bandwidth after despreading；
Step 2, according to Detection of Cycle-slip value difference and carrier-to-noise ratio, whether real-time judge carries out the amendment of multipath error：
(1) if Detection of Cycle-slip value and the ratio of Detection of Cycle-slip value difference are less than setting value m (i.e.), and
Carrier-to-noise ratio is less than setting thresholding M (i.e.), then carrier wave positioning is without occurring cycle slip, and multipath error is no more than one week load
Wave wavelength, the amendment without multipath error；
(2) if Detection of Cycle-slip value and the ratio of Detection of Cycle-slip value difference are not less than setting value m (i.e.), and
Carrier-to-noise ratio is less than setting thresholding M (i.e.), then cycle slip occurs for carrier wave positioning, and multipath error is no more than one week carrier wavelength,
Carry out the amendment of multipath error, correction formula：I.e. in three frequency of original
The Detection of Cycle-slip value of three frequency pseudorange phase combination observations is superimposed on the basis of combination carrier phase observation observation value expression
(3) if Detection of Cycle-slip value and the ratio of Detection of Cycle-slip value difference are not less than setting value m (i.e.),
And carrier-to-noise ratio is (i.e. not less than setting thresholding M), then cycle slip occurs for carrier wave positioning, and multipath error is more than to carry for one week
Wave wavelength, carries out the amendment of multipath error, and correction formula is as follows：
In formula, φ (ωm) expression carrier phase frequency be ωmPhase, δ indicate multipath signal delay.
Three frequency pseudorange phase combination observations are superimposed on the basis of former three frequency combination carrier phase observations observe value expression
Detection of Cycle-slip value and the multipath signal of delay.
When above-mentioned m=4, confidence level can reach 99%, therefore m takes 4 in present embodiment.
Because of carrier-to-noise ratio door when carrier-to-noise ratio thresholding when multipath effect accumulated error generates occurs compared to complete cycle saltus step
Limit wants low, so there is no Detection of Cycle-slip value differences to be unsatisfactory forCarrier-to-noise ratio meetsThe case where.
By carrying out emulation experiment to navigation signal in present embodiment, the generation of carrier-to-noise ratio variation and multipath error is obtained
Between relationship, find out multipath effect generate accumulated error carrier-to-noise ratio thresholding M.Emulation experiment inputs three kinds of signals：Direct projection
Signal, reflection signal and mixed signal, and the carrier phase observed quantity for tracking three kinds of signals solution is divided with carrier-to-noise ratio
Analysis.The input condition of emulation experiment and experimental method are as follows：
Direct signal is：SD(t)=C (t) sin (ω0t+ωdT), in formula, ω0=1.5MHz, ωdWithin emulation all the period of time
Be set as 0MHz, C () is GPS CA codes, signal-to-noise ratio be set as -19dB (signal-to-noise ratio of the GPS signal before despreading be about -
19dB, carrier-to-noise ratio corresponding with the load -19dB signal-to-noise ratio is about 43dBHz).
Reflecting signal is：SM(t)=C (t) sin (ω0t+ωdmT), in formula, ω0=1.5MHz, ωdmInitial value is set as
0MHz, later increase 0.02MHz per second, C () are GPS CA codes, and signal-to-noise ratio is set as -19dB.
Mixed signal is：SD(t)+α×SM(t), α=0.8.
Emulation experiment sample rate is set as 5.714M, is used using DLL code tracking loops using Costas carrier tracking loops
Normalize it is incoherent it is advanced subtract after-power discriminator, the turnover rate of carrier tracking loop and code tracking loop is set as 1k, when emulation
Between be set as 50s.
Fig. 2 is the carrier phase observed quantity for tracking three kinds of input signals and solving, and three kinds of signals of emulation experiment pair are into line trace
Handle and estimate that carrier-to-noise ratio, Fig. 3 are the carrier-to-noise ratio for tracking three kinds of input signals and solving.It can be obtained from Fig. 2~3, tracking processing
The carrier phase observed quantity of direct signal is consistent with the carrier phase observed quantity of direct signal actually entered, tracking processing direct projection
The carrier-to-noise ratio that signal solves is about 43dBHz, consistent with the carrier-to-noise ratio of the direct signal actually entered；Tracking processing reflection signal
Carrier phase observed quantity it is consistent with the reflection carrier phase observed quantity of signal actually entered, while track processing reflection signal
The carrier-to-noise ratio of solution is consistent with the reflection signal carrier-to-noise ratio actually entered；The carrier phase observation that tracking processing mixed signal solves
The carrier phase observed quantity for the direct signal measured and actually entered, carrier phase observed quantity with the direct signal actually entered it
Between difference to be both multipath effect influence the error of carrier phase observed quantity, the carrier phase observation that tracking processing signal solves
Amount not equal to the carrier phase observed quantity of direct signal actually entered, between difference be that multipath observes carrier phase
Error is measured, which has been more than 1 week carrier wavelength, while can be seen that the error has mutation at certain moment, is produced in the error
The carrier-to-noise ratio that tracking mixed signal solves when raw mutation is less than 25dBHz, determines M=25dBHz.
By emulation experiment, it can be seen that, the generation of multipath effect error can be along with the drop of carrier-to-noise ratio under simulated conditions
Low, the carrier-to-noise ratio thresholding for generating cycle slip will be less than by generating the carrier-to-noise ratio thresholding of more smart cumulative errors under the same conditions.And it carries and makes an uproar
Than it is too low be equally one of the reason of causing cycle slip to occur.
After being corrected by the multipath error modification method of present embodiment, the front and back comparison of multipath error is respectively such as Fig. 4,5
It is shown, it can be seen that this method obviously can effectively correct multipath error, be significantly increased to the accuracy of satellite positioning.
Claims (5)
1. the modification method of multipath error during a kind of multi-frequency observation, which is characterized in that including：
Detection of Cycle-slip value, Detection of Cycle-slip value difference and carrier-to-noise ratio are calculated during multi-frequency observation in real time；
According to Detection of Cycle-slip value difference and carrier-to-noise ratio, whether real-time judge carries out the amendment of multipath error：
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is less than setting value, and carrier-to-noise ratio is less than setting thresholding, then carrier wave is fixed
Position is without occurring cycle slip, and multipath error is no more than one week carrier wavelength, the amendment without multipath error；
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is less than setting thresholding, then carrier wave
Cycle slip occurs for positioning, and multipath error is no more than one week carrier wavelength, carries out the amendment of multipath error；
If the ratio of Detection of Cycle-slip value and Detection of Cycle-slip value difference is not less than setting value, and carrier-to-noise ratio is then carried not less than setting thresholding
Cycle slip occurs for wave positioning, and multipath error is more than one week carrier wavelength, carries out the amendment of multipath error.
2. according to the method described in claim 1, it is characterized in that, Detection of Cycle-slip is calculated during the multi-frequency observation in real time
Value, including：
It is legal according to three frequency pseudorange phase-groups, calculate the integer ambiguity of three frequency pseudorange phase combination observations；
It is poor to make between the integer ambiguity epoch of three frequency pseudorange phase combination observations, obtains three frequency pseudorange phase combination observations
Detection of Cycle-slip value.
3. if according to the method described in claim 1, the it is characterized in that, ratio of the Detection of Cycle-slip value and Detection of Cycle-slip value difference
Not less than setting value, and carrier-to-noise ratio is less than setting thresholding, then cycle slip occurs for carrier wave positioning, and multipath error is no more than one week carrier wave wave
It is long, carry out the amendment of multipath error；Specifically correcting mode is：It is folded on the basis of former three frequency combination carrier phase observations observe value expression
Add the Detection of Cycle-slip value of three frequency pseudorange phase combination observations.
4. if according to the method described in claim 1, the it is characterized in that, ratio of the Detection of Cycle-slip value and Detection of Cycle-slip value difference
Not less than setting value, and carrier-to-noise ratio not less than setting thresholding, then cycle slip occurs for carrier wave positioning, and multipath error is more than one week carrier wave
Wavelength carries out the amendment of multipath error；Specifically correcting mode is：On the basis of former three frequency combination carrier phase observations observe value expression
It is superimposed the Detection of Cycle-slip value of three frequency pseudorange phase combination observations and the multipath signal of delay.
5. according to the method described in claim 1, it is characterized in that, the thresholding is determined by following emulation experiment method：
Emulation experiment inputs three kinds of signals：Direct signal, reflection signal and mixed signal；
Three kinds of signals are handled into line trace and estimate carrier-to-noise ratio；
The carrier phase observed quantity of tracking processing direct signal is consistent with the carrier phase observed quantity of direct signal actually entered,
The carrier-to-noise ratio that tracking processing direct signal solves is consistent with the carrier-to-noise ratio of the direct signal actually entered；
The carrier phase observed quantity of tracking processing reflection signal is consistent with the reflection carrier phase observed quantity of signal actually entered,
It is consistent with the reflection signal carrier-to-noise ratio actually entered that the carrier-to-noise ratio that processing reflection signal solves is tracked simultaneously；
The carrier phase observed quantity of tracking processing mixed signal the carrier phase observed quantity solved and the direct signal actually entered,
The difference between carrier phase observed quantity with the direct signal actually entered is both multipath effect to carrier phase observed quantity
Error influences, and the carrier phase that the carrier phase observed quantity that tracking processing signal solves is not equal to the direct signal actually entered is seen
It measures, difference is multipath to carrier phase observed quantity error, if error has been more than 1 week carrier wavelength, according to error production
The carrier-to-noise ratio that tracking mixed signal solves when raw mutation determines thresholding, which is more than the carrier-to-noise ratio solved.
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| CN110514745A (en) * | 2019-09-02 | 2019-11-29 | 北京理工大学 | A method of it is determined based on the cable circuit wire position of multifrequency acoustic emission signal |
| CN110515350A (en) * | 2019-08-13 | 2019-11-29 | 北京城建道桥建设集团有限公司 | The group's anchor centering of one population hole and error theory analysis method |
| CN112083450A (en) * | 2020-09-07 | 2020-12-15 | 中山大学 | Multipath error suppression method, system and device by using circular motion of antenna |
| CN113189628A (en) * | 2021-04-08 | 2021-07-30 | 重庆工业职业技术学院 | BDS multi-frequency observation value cycle slip detection and restoration method |
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