CN102565821A - Method for detecting and repairing satellite navigation signal carrier cycle clips assisted by doppler frequency offset - Google Patents

Abstract

The invention discloses a method for detecting and repairing satellite navigation signal carrier cycle clips assisted by doppler frequency offset. A doppler frequency offset measurement value reproduced by a navigation receiver is utilized to detect and repair the cycle clips on carrier phase measurement in an assistant mode. A feasible scheme is provided for position calculation by utilizing a cycle-clip-free carrier phase measurement value in real-time positioning. In the k+1 epoch, the phase difference residual between epochs is calculated out by means of satellite carrier phase measurement values, doppler frequency offset measurement values and nominal sampling interval and accumulation cycle clips provided by a current-epoch navigation receiver and a k-epoch navigation receiver. The phase difference residual between the epochs is compared with a mean value of the phase difference residual between the epochs. When an absolute value of the difference between the phase difference residual between the epochs and the mean value of the phase difference residual between the epochs is larger than a detection threshold of the cycle clips, the cycle clips exist in a carrier phase, and an integer closest to the difference is taken to serve as a cycle clip value to repair the cycle clips of the carrier phase. By means of the method, the detection and the reparation of the satellite navigation signal carrier cycle clips can be quickly achieved in real time.

Description

The satellite navigation signals carrier cycle slip real-time detection that Doppler frequency deviation is auxiliary and the method for reparation

Technical field

The invention belongs to the satellite navigation positioning field, be specifically related to the auxiliary satellite navigation signals carrier cycle slip real-time detection of a kind of Doppler frequency deviation and the method for reparation.

Background technology

Beidou satellite navigation system is the Chinese independent research of implementing, the GPS of independent operating.With GPS of America, Russian Ge Luonasi, European Union's Galileo system and be called global four large satellite navigational system.Beidou satellite navigation system provides location, navigation and time service and short message communication service.End on Dec 2nd, 2011, China has sent the satellite in 10 two generations of the Big Dipper, and plans in about 2012, covers the Asian-Pacific area, and the year two thousand twenty left and right sides is covering the whole world.The construction of Beidou satellite navigation system promotes the satellite navigation industrial chain to form, and the perfect support of national satellite navigation application industry, popularization and security system promote the widespread use of satellite navigation in national economy society every profession and trade.

In receiving positioning system, key is how to obtain good measured value is carried out location compute, and the current measured value that is used for positioning calculation mainly contains these two kinds of pseudo-range measurements and carrier phase measurement values, and remaining all is the variation on these two types of measured value bases.Pseudo-range measurements can directly be extracted from navigation neceiver, in the location, calculates simple and conveniently, but it is big to exist measuring error, the defective that bearing accuracy is not high.And the carrier phase measurement value is compared with pseudo-range measurements, and its error is relatively little a lot, and when being used to locate, its absolute fix precision can reach centimetre-sized, and the relative positioning precision can reach the millimeter level.Propelling, the development of navigation neceiver technology and constantly widening of navigator fix application along with the dipper system construction; Especially triones navigation system widespread use militarily; The Big Dipper navigation neceiver of economy, high precision, high reliability has become emphasis, the difficult point of research and development, and adopting the carrier phase measurement value to position becomes a kind of trend.

Compare with pseudo-range measurements, also there is the carrier cycle slip problem in the carrier phase measurement value except having the uncertain problem of initial integer ambiguity.Carrier cycle slip is to be caused by the tracking satellite phase change that the local receiver carrier tracking loop can not be continuous, and the generation that week jumps is caused by following several kinds of factors:

1) blocking satellite-signal such as trees, buildings;

2) problem of navigation neceiver process software;

3) low signal-to-noise ratio of the generations such as low clearance angle of the dynamically high and satellite of ionosphere condition, multipath effect, navigation neceiver;

4) the satellite oscillator breaks down etc.

The generation that week jumps not only influences current measured value, and is present in the follow-up carrier phase measurement value always, influences navigation neceiver positioning-speed-measuring precision.In order to obtain the navigator fix result of high accuracy, high reliability, must carry out rapid and precise to the cycle slip in the carrier phase and survey and repair.

Current, existing several different methods is used for surveying with repairing week jumps, like polynomial fitting method, MW linear combination probe method, Ionosphere Residual Error method, high order difference method, Kalman filtering method, Wavelet Transform etc.But the each have their own limitation of these methods, polynomial fitting method can only carry out aftertreatment to data, can't realize that week is jumped detection in real time; Ionosphere Residual Error method and MW linear combination probe method are applicable to double frequency or multifrequency phase measured value, are not suitable for jumping in week of single-frequency carrier phase and survey and the reparation problem; High order difference method also only is applicable to the aftertreatment of data, and is not suitable for real-time processing.Kalman filtering method is wanted given accurate initial value, otherwise disperses easily; And there is the problem that the model construction complexity is high, calculated amount is big in the wavelet coefficient rule, is used for aftertreatment more.

Summary of the invention

The objective of the invention is to overcome the shortcoming that calculated amount is big, real-time is not enough of prior art, the auxiliary satellite navigation signals carrier cycle slip real-time detection of a kind of quick, real-time Doppler frequency deviation and the method for reparation are provided.

The satellite navigation signals carrier cycle slip real-time detection that Doppler frequency deviation is auxiliary and the method for reparation comprise the steps:

1) all jumping values of initial accumulation dN is set ₀Be 0, the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀

2) in k+1 epoch, that utilizes current epoch and k epoch, navigation neceiver provided jumps in satellite carrier phase measurement, Doppler frequency deviation measured value, navigation neceiver nominal SI and accumulation week, and it is remaining to calculate between epoch phase difference;

3) phase difference remnants between this epoch are made comparisons with its average, survey whether there is the week jumping in the carrier phase, the condition of its judgement is:

|δφ _k-<δφ> _k|≤p·σ _k (12)

δ φ wherein _kFor k+1 between the epoch of epoch phase difference remaining,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kBe preceding k phase difference residual variance between the epoch of an epoch, p σ _kBeing that week jumps surveys thresholding, and p gets 3, and formula (1) is when being false, and then thinks to exist week to jump in the carrier phase, changes step 4) over to; Otherwise then think not exist in the carrier phase week to jump, change step 5) over to;

4) when step 3) judges that existence week jumps in the carrier phase measurement value, get φ with δ _k-<δ φ> _kNearest integer is as current week jumping value, and all jumping values of renewal accumulation, promptly

dN _k＝dN _k-1+round(δφ _k-<δφ> _k) (13)

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch, round () be a bracket function, and repeating step 2 then)-step 3), do further week and jump detection revising carrier phase measurement value after week jumps;

5) judge that by formula (1) cycle slip does not take place carrier phase, then keep the accumulation cycle slip value of k+1 epoch constant, adopt sequential mode to upgrade average and the variance of phase difference remnants between epoch,

dN _k+1＝dN _k

${<\mathrm{\&delta;\&phi;}>}_{k+1}={<\mathrm{\&delta;\&phi;}>}_k+\frac{1}{k+1}(\mathrm{\&delta;}{\mathrm{\&phi;}}_{k+1}-{<\mathrm{\&delta;\&phi;}>}_k)---\left(14\right)$

${\mathrm{\&sigma;}}_{k+1}^2=\frac{k-1}{k}{\mathrm{\&sigma;}}_{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="111222153728.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+\frac{1}{k+1}{(\mathrm{\&delta;}{\mathrm{\&phi;}}_{k+1}-{<\mathrm{\&delta;\&phi;}>}_k)}^2$

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kFor preceding k phase difference residual variance between the epoch of an epoch, then wait for the arrival of k+2 measurement data epoch, repeating step 2)-step 5).

In the said step 1), the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀Calculating comprise following substep:

A), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

${\mathrm{\&phi;}}^s(k+1)={\mathrm{\&phi;}}_r^s(k+1)+d{N}_k$

dφ(k)＝φ ^s(k+1)-φ ^s(k) (15)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

B) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

${\widehat{\mathrm{\&phi;}}}_d\left(k\right)=-{\&Integral;f}_{d0}\mathrm{dt}\&ap;-\frac{f_{d0}(k+1)+f_{d0}\left(k\right)}{2}{T}_{\mathrm{sa}}$

$=-[(1+\mathrm{\&beta;})(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))-f_{R0}]\&CenterDot;T_{\mathrm{sa}}---\left(16\right)$

$=f_{R0}\&CenterDot;T_{\mathrm{sa}}-(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))T_{\mathrm{sn}}$

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

C) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step a), step b) calculate

With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

${\mathrm{\&delta;\&phi;}}_k=(f_{R0}\&CenterDot;T_{\mathrm{sa}}-\mathrm{d\&phi;}\left(k\right))-{\widehat{\mathrm{\&phi;}}}_d\left(k\right)---\left(17\right)$

D) the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀, its calculating formula does

${<\mathrm{\&delta;\&phi;}>}_0=\frac{1}{Q-1}\underset{k=1}{\overset{Q-1}{\mathrm{\&Sigma;}}}{\mathrm{\&delta;\&phi;}}_k$

${\mathrm{\&sigma;}}_0=\sqrt{\frac{1}{Q-1}\underset{k=1}{\overset{Q-1}{\mathrm{\&Sigma;}}}{({\mathrm{\&delta;\&phi;}}_k-{<\mathrm{\&delta;\&phi;}>}_0)}^2}---\left(18\right)$

Said step 2) in, in k+1 epoch, the remaining calculating of phase difference comprises following substep between epoch:

E), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

${\mathrm{\&phi;}}^s(k+1)={\mathrm{\&phi;}}_r^s(k+1)+d{N}_k$

dφ(k)＝φ ^s(k+1)-φ ^s(k) (19)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

F) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

${\widehat{\mathrm{\&phi;}}}_d\left(k\right)=-{\&Integral;f}_{d0}\mathrm{dt}\&ap;-\frac{f_{d0}(k+1)+f_{d0}\left(k\right)}{2}{T}_{\mathrm{sa}}$

$=-[(1+\mathrm{\&beta;})(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))-f_{R0}]\&CenterDot;T_{\mathrm{sa}}---\left(20\right)$

$=f_{R0}\&CenterDot;T_{\mathrm{sa}}-(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))T_{\mathrm{sn}}$

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

G) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step e), step f) calculate

With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

${\mathrm{\&delta;\&phi;}}_k=(f_{R0}\&CenterDot;T_{\mathrm{sa}}-\mathrm{d\&phi;}\left(k\right))-{\widehat{\mathrm{\&phi;}}}_d\left(k\right)---\left(21\right)$

In the said step f), the SI of nominal with the Doppler frequency deviation measured value that actual samples interval and navigation neceiver measure with actual Doppler frequency deviation pass formula does

$T_{\mathrm{sa}}=\frac{T_{\mathrm{sn}}}{1+\mathrm{\&beta;}}---\left(22\right)$

f _d0＝(1+β)(f _R0+δf _i0+f _d)-f _R0

F wherein _R0Be satellite carrier frequency, T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator.

The present invention jumps the method for surveying with repairing with tradition week and compares; The present invention has adopted the Doppler measurement conduct that noise is little, precision is higher auxiliary; Adopted the crystal oscillator first order modeling simultaneously; Phase difference is remaining between epoch resolves, and has avoided the crystal oscillator deviation and the inaccurate problem of Doppler measurement that causes, can rapid and precise surveys and repairs and jump in week.The method adopts sequential mode to calculate, and operand is little and quick, has practicality widely.

Description of drawings

Fig. 1 is the auxiliary satellite navigation signals carrier cycle slip real-time detection of Doppler frequency deviation and the method flow diagram of reparation;

Fig. 2 is a navigation neceiver down coversion block diagram of the present invention;

Fig. 3 is the remaining figure of phase difference between epoch of all jumping situation of having of embodiments of the invention;

Fig. 4 is that embodiments of the invention are repaired the remaining figure of phase difference between the epoch of jumping in week.

Embodiment

As shown in Figure 1, the satellite navigation signals carrier cycle slip real-time detection that Doppler frequency deviation is auxiliary and the method for reparation comprise the steps:

1) all jumping values of initial accumulation dN is set ₀Be 0, the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀

2) in k+1 epoch, that utilizes current epoch and k epoch, navigation neceiver provided jumps in satellite carrier phase measurement, Doppler frequency deviation measured value, navigation neceiver nominal SI and accumulation week, and it is remaining to calculate between epoch phase difference;

3) phase difference remnants between this epoch are made comparisons with its average, survey whether there is the week jumping in the carrier phase, the condition of its judgement is:

|δφ _k-<δφ> _k|≤p·σ _k (23)

δ φ wherein _kFor k+1 between the epoch of epoch phase difference remaining,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kBe preceding k phase difference residual variance between the epoch of an epoch, p σ _kBeing that week jumps surveys thresholding, and p gets 3, and formula (1) is when being false, and then thinks to exist week to jump in the carrier phase, changes step 4) over to; Otherwise then think not exist in the carrier phase week to jump, change step 5) over to;

4) when step 3) judges that existence week jumps in the carrier phase measurement value, get φ with δ _k-<δ φ> _kNearest integer is as current week jumping value, and all jumping values of renewal accumulation, promptly

dN _k＝dN _k-1+round(δφ _k-<δφ> _k) (24)

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch, round () be a bracket function, and repeating step 2 then)-step 3), do further week and jump detection revising carrier phase measurement value after week jumps;

5) judge that by formula (1) cycle slip does not take place carrier phase, then keep the accumulation cycle slip value of k+1 epoch constant, adopt sequential mode to upgrade average and the variance of phase difference remnants between epoch,

dN _k+1＝dN _k

${<\mathrm{\&delta;\&phi;}>}_{k+1}={<\mathrm{\&delta;\&phi;}>}_k+\frac{1}{k+1}(\mathrm{\&delta;}{\mathrm{\&phi;}}_{k+1}-{<\mathrm{\&delta;\&phi;}>}_k)---\left(25\right)$

${\mathrm{\&sigma;}}_{k+1}^2=\frac{k-1}{k}{\mathrm{\&sigma;}}_{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="111222153728.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+\frac{1}{k+1}{(\mathrm{\&delta;}{\mathrm{\&phi;}}_{k+1}-{<\mathrm{\&delta;\&phi;}>}_k)}^2$

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kFor preceding k phase difference residual variance between the epoch of an epoch, then wait for the arrival of k+2 measurement data epoch, repeating step 2)-step 5).

In the said step 1), the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀Calculating comprise following substep:

A), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

${\mathrm{\&phi;}}^s(k+1)={\mathrm{\&phi;}}_r^s(k+1)+d{N}_k$

dφ(k)＝φ ^s(k+1)-φ ^s(k) (26)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

B) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

${\widehat{\mathrm{\&phi;}}}_d\left(k\right)=-{\&Integral;f}_{d0}\mathrm{dt}\&ap;-\frac{f_{d0}(k+1)+f_{d0}\left(k\right)}{2}{T}_{\mathrm{sa}}$

$=-[(1+\mathrm{\&beta;})(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))-f_{R0}]\&CenterDot;T_{\mathrm{sa}}---\left(27\right)$

$=f_{R0}\&CenterDot;T_{\mathrm{sa}}-(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))T_{\mathrm{sn}}$

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

C) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step a), step b) calculate

With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

${\mathrm{\&delta;\&phi;}}_k=(f_{R0}\&CenterDot;T_{\mathrm{sa}}-\mathrm{d\&phi;}\left(k\right))-{\widehat{\mathrm{\&phi;}}}_d\left(k\right)---\left(28\right)$

D) the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀, its calculating formula does

${<\mathrm{\&delta;\&phi;}>}_0=\frac{1}{Q-1}\underset{k=1}{\overset{Q-1}{\mathrm{\&Sigma;}}}{\mathrm{\&delta;\&phi;}}_k$

${\mathrm{\&sigma;}}_0=\sqrt{\frac{1}{Q-1}\underset{k=1}{\overset{Q-1}{\mathrm{\&Sigma;}}}{({\mathrm{\&delta;\&phi;}}_k-{<\mathrm{\&delta;\&phi;}>}_0)}^2}---\left(29\right)$

Said step 2) in, in k+1 epoch, the remaining calculating of phase difference comprises following substep between epoch:

E), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

${\mathrm{\&phi;}}^s(k+1)={\mathrm{\&phi;}}_r^s(k+1)+d{N}_k$

dφ(k)＝φ ^s(k+1)-φ ^s(k) (30)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

F) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

${\widehat{\mathrm{\&phi;}}}_d\left(k\right)=-{\&Integral;f}_{d0}\mathrm{dt}\&ap;-\frac{f_{d0}(k+1)+f_{d0}\left(k\right)}{2}{T}_{\mathrm{sa}}$

$=-[(1+\mathrm{\&beta;})(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))-f_{R0}]\&CenterDot;T_{\mathrm{sa}}---\left(31\right)$

$=f_{R0}\&CenterDot;T_{\mathrm{sa}}-(f_{R0}+\mathrm{\&delta;}{f}_{i0}+\frac{1}{2}(f_d(k+1)+f_d\left(k\right)))T_{\mathrm{sn}}$

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

G) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step e), step f) calculate

With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

${\mathrm{\&delta;\&phi;}}_k=(f_{R0}\&CenterDot;T_{\mathrm{sa}}-\mathrm{d\&phi;}\left(k\right))-{\widehat{\mathrm{\&phi;}}}_d\left(k\right)---\left(32\right)$

In the said step f), the SI of nominal with the Doppler frequency deviation measured value that actual samples interval and navigation neceiver measure with actual Doppler frequency deviation pass formula does

$T_{\mathrm{sa}}=\frac{T_{\mathrm{sn}}}{1+\mathrm{\&beta;}}---\left(33\right)$

f _d0＝(1+β)(f _R0+δf _i0+f _d)-f _R0

F wherein _R0Be satellite carrier frequency, T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator.

Embodiment

Data Source: one group of nominal SI is 2000 no all jumping figure certificates of 0.1 second, and artificial 1 ,-3,7 week of on 200,400,800 epoch, adding respectively jumps.Fig. 3 shows is that phase difference is remaining between the epoch of artificially having added after all jumpings.

Method is implemented: the implementing procedure by shown in Figure 1 progressively launches, and at first sets nominal SI T according to Fig. 2 navigation neceiver structure _SnIt is 0.1 second; The local intermediate frequency deviation of navigation neceiver δ f _I0Be 2.3KHz.The navigation neceiver measurement data of getting preceding Q (Q gets 5) individual epoch calculates the remaining average of phase difference between epoch<δ φ> ₀Be 0.048 week, variances sigma ₀Be 0.016 week, all jumping value dN of accumulation are set ₀Be 0.

Set by step 2)-step 5) carries out the detection and the reparation of jumping in week to data.Table 1 has shown the week jumping value that between the artificial epoch that adds on the epoch of jumping in week phase difference is remaining and repair.Can know when cycle slip takes place that from table on phase difference remnants between epoch, have a sudden change and take place, available formula (1) detects the existence of cycle slip, and utilizes formula (3) to repair.Fig. 4 is remaining for phase difference between the epoch of data after repairing, and detection that can be real-time by the visible the present invention of figure is present in the cycle slip in the navigation satellite signal carrier phase with reparation.

The above is merely a preferred embodiment of the present invention, does not constitute any restriction of the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to replacement and improvement etc., all should be included within protection scope of the present invention.

Phase difference is remaining between the epoch of table 1 cycle slip origination point

Claims (4)

1. the auxiliary satellite navigation signals carrier cycle slip real-time detection of a Doppler frequency deviation and the method for reparation is characterized in that comprising the steps:

1) all jumping values of initial accumulation dN is set ₀Be 0, the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀With variances sigma 0;

2) in k+1 epoch, that utilizes current epoch and k epoch, navigation neceiver provided jumps in satellite carrier phase measurement, Doppler frequency deviation measured value, navigation neceiver nominal SI and accumulation week, and it is remaining to calculate between epoch phase difference;

3) phase difference remnants between this epoch are made comparisons with its average, survey whether there is the week jumping in the carrier phase, the condition of its judgement is:

|δφ _k-<δφ> _k|≤p·σ _k (1)

δ φ wherein _kFor k+1 between the epoch of epoch phase difference remaining,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kBe preceding k phase difference residual variance between the epoch of an epoch, p σ _kBeing that week jumps surveys thresholding, and p gets 3, and formula (1) is when being false, and then thinks to exist week to jump in the carrier phase, changes step 4) over to; Otherwise then think not exist in the carrier phase week to jump, change step 5) over to;

4) when step 3) judges that existence week jumps in the carrier phase measurement value, get φ with δ _k-<δ φ> _kNearest integer is as current week jumping value, and all jumping values of renewal accumulation, promptly

dN _k＝dN _k-1+round(δφ _k-<δφ> _k) (2)

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch, round () be a bracket function, and repeating step 2 then)-step 3), do further week and jump detection revising carrier phase measurement value after week jumps;

5) judge that by formula (1) cycle slip does not take place carrier phase, then keep the accumulation cycle slip value of k+1 epoch constant, adopt sequential mode to upgrade average and the variance of phase difference remnants between epoch,

dN _k+1＝dN _k

DN wherein _k, dN _K-1Be respectively the accumulation week jumping value of k and k-1 epoch,<δ φ> _kBe preceding k phase difference residual mean value between the epoch of an epoch, σ _kFor preceding k phase difference residual variance between the epoch of an epoch, then wait for the arrival of k+2 measurement data epoch, repeating step 2)-step 5).

2. the satellite navigation signals carrier cycle slip real-time detection that a kind of Doppler frequency deviation according to claim 1 is auxiliary and the method for reparation is characterized in that, in the said step 1), and the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀Calculating comprise following substep:

A), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

dφ(k)＝φ ^s(k+1)-φ ^s(k) (4)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

B) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

C) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step a), step b) calculate

With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

D) the navigation neceiver data computation of utilizing Q group carrierfree week to jump goes out the remaining average of phase difference between epoch<δ φ> ₀And variances sigma ₀, its calculating formula does

3. the real-time detection of satellite navigation signals carrier cycle slip and the method for reparation that a kind of Doppler frequency deviation according to claim 1 is auxiliary is characterized in that said step 2) in, in k+1 epoch, the calculating of phase difference remnants comprises following substep between epoch:

E), the satellite carrier phase measurement of navigation neceiver reproduction is repaired phase differential score value d φ (k) between the carrier phase measurement value calculating epoch after combining k to repair epoch in k+1 epoch;

dφ(k)＝φ ^s(k+1)-φ ^s(k) (8)

Wherein

Be the satellite carrier phase measurement of k+1 navigation neceiver epoch reproduction, dN _kAdd up for what jump in all weeks of detecting on the carrier phase preceding k epoch, be called for short accumulation week and jump φ ^s(k+1), φ ^s(k) be satellite carrier phase place after k+1 and k repair epoch;

F) in k+1 epoch; Utilization is by k+1 epoch and k Doppler frequency deviation epoch measured value that navigation neceiver provides, calculate between epoch between satellite and navigation neceiver geometric distance changes

F wherein _R0Be the satellite carrier frequency; T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator;

G) utilize that the geometric distance between phase differential score value d φ (k), satellite and navigation neceiver changes between the epoch that step e), step f) calculate With the actual samples interval T _Sa, calculate phase difference remnants between epoch,

4. the satellite navigation signals carrier cycle slip real-time detection that a kind of Doppler frequency deviation according to claim 3 is auxiliary and the method for reparation; It is characterized in that; In the said step f), the SI of nominal with the Doppler frequency deviation measured value that actual samples interval and navigation neceiver measure with actual Doppler frequency deviation pass formula does

(11)

f _d0＝(1+β)(f _R0+δf _i0+f _d)-f _R0

F wherein _R0Be satellite carrier frequency, T _SaBe actual samples interval, T _SnBe the nominal SI of navigation neceiver, f _d(k) the Doppler frequency deviation measured value that measures for navigation neceiver, f _D0(k) be actual Doppler frequency deviation, δ f _I0Be the local intermediate frequency deviation of navigation neceiver, wherein β is the clock parital coefficient of local crystal oscillator.

Images