CN104570009B - distributed GNSS real-time data processing method and system - Google Patents
distributed GNSS real-time data processing method and system Download PDFInfo
- Publication number
- CN104570009B CN104570009B CN201510040564.2A CN201510040564A CN104570009B CN 104570009 B CN104570009 B CN 104570009B CN 201510040564 A CN201510040564 A CN 201510040564A CN 104570009 B CN104570009 B CN 104570009B
- Authority
- CN
- China
- Prior art keywords
- cycle slip
- cycle
- slip
- temporal information
- server end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
Abstract
The invention discloses a distributed GNSS real-time data processing method and system. The distributed GNSS real-time data processing method comprises the steps that firstly, on the receiver side, cycle slip detection is conducted on original observation data, so that cycle slip time information is obtained; secondly, the cycle slip time information and the original observation data are encoded and then are sent to a server side. On the server side, firstly, the encoded data are decoded so that the observation data and the cycle slip time information can be obtained; secondly, cycle slip judgment is conducted according to the cycle slip time information; finally, precise differential product resolving is conducted according to the cycle slip judgment result, current filter state parameter information obtained through epoch resolving is stored, after resolving is interrupted and the server side is restarted, an interrupted filter under the epoch condition is recovered by means of the stored filter state parameter information, and the resolving state existing before resolving interruption is continued. According to the distributed GNSS real-time data processing method and system, initialization required when the server side is restarted after interruption is avoided, continuous and consistent precise differential products are provided for users, and high-precision positioning services can be guaranteed.
Description
Technical field
The invention belongs to GNSS precision differential service of goods end data processing technology field, distributed particularly to one kind
GNSS real-time data processing method and system.
Background technology
During GNSS high-precision real, dynamic positioning system can reach the positioning precision of decimetre or even Centimeter Level, and application is very wide
General.But it is necessarily dependent upon the precision differential product that service end obtains to the magnanimity real time data resolving of a large amount of tracking stations.In order to
Provide the user with continual service, it is necessary to assure continuous, the stable operation of service end data handling system.But, in complexity
Under network environment, the magnanimity real-time stream of transmission unavoidably produces various complicated and diversified exceptions, thus leading to resolving system
Collapse；Simultaneously as also there is collapse phenomenon unavoidably in software and hardware reason service end.
In these cases, after restarting service end, all of history observation information is all lost, data prediction and difference
Parameter estimation module needs to reinitialize, and it is poor to there is reinitializing overlong time, difference homogeneity of product,
It is difficult to meet the requirement that user positions to real-time high-precision.For ensure provide the user with continuous precise positioning service it is necessary to
Require service end restart after can continue to restart before resolving state run, thus avoid initialize it is ensured that difference product consistent
Property.
Content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of distributed GNSS real-time data processing method and be
System, the resolving state before the method can make service end can continue after restarting to restart is run it is ensured that the real-time of difference product and one
Cause property, thus ensure to provide the user with the positioning service of continuous precise.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that：
First, distributed GNSS real-time data processing method, including：
Step 1, carries out Detection of Cycle-slip in receiver end to the original observed data receiving, and obtains cycle slip temporal information, week
Jumping temporal information is the time that each satellite occurs cycle slip for the last time；
Step 2, sends to server end after receiver end is by cycle slip temporal information and original observed data coding；
Step 3, is decoded to the coded data receiving in server end, obtains observation data and cycle slip temporal information；
Step 4, server end by compare current epoch decoding obtain cycle slip temporal information and on one epoch decoding
Whether the cycle slip temporal information obtaining is identical, judges under current epoch, whether satellite occurs cycle slip；
Step 5, is resolved according to the observation data that cycle slip judged result and decoding obtain in server end, and in service
Device end stores current epoch and resolves the filter status parameter information obtaining；
Step 6, if resolve interrupting, after server end is restarted, the filter status Parameter reconstruction using storage interrupts epoch
Under wave filter, using recover wave filter continue resolve interrupt before resolving state.
In receiver end, Detection of Cycle-slip is carried out to the original observed data receiving using TurboEdit method in step 1.
In step 2, cycle slip temporal information and original observed data are compiled using RTCM coded system in receiver end
Code；Meanwhile, in step 3, it is decoded obtaining observation data and cycle slip temporal information using RTCM decoding process in server end.
Step 4 is specially：
The second cycle slip time of relatively the first cycle slip temporal information server end storage that current epoch decoding obtains believes
Breath, the initial value of the second cycle slip temporal information is the cycle slip temporal information that initial epoch decoding obtains；If the first cycle slip time letter
Breath is different with the second cycle slip temporal information, then respective satellite occurs cycle slip, using first cycle slip time information renovation the second cycle slip
Temporal information；Conversely, there is not cycle slip in respective satellite.
Preferably, after step 5 is resolved, using the observation data of residual error editing and processing decoding acquisition, rejecting and not visiting
Measure the Satellite Observations of cycle slip.
Being resolved according to the observation data that cycle slip judged result and decoding obtain in server end described in step 5,
It is specially：
If satellite does not occur cycle slip, directly resolved using the observation data that decoding obtains；
If satellite occurs cycle slip, resolve the fuzziness parameter of initialization cycle slip satellite by pseudorange, then using decoding
The observation data obtaining is resolved.
Resolved using Kalman filtering method in step 5.
2nd, distributed GNSS real-time data processing system, including：
Detection of Cycle-slip module, for carrying out Detection of Cycle-slip in receiver end to the original observed data receiving, obtains cycle slip
Temporal information, cycle slip temporal information is the time that each satellite occurs cycle slip for the last time；
Coding and transport module, for receiver end by cycle slip temporal information and original observed data coding after send to
Server end；
Decoder module, for being decoded to the coded data receiving in server end, when obtaining observation data and cycle slip
Between information；
Cycle slip judge module, for server end by compare current epoch decoding obtain cycle slip temporal information and on
Whether the cycle slip temporal information that the decoding of one epoch obtains is identical, judges under current epoch, whether satellite occurs cycle slip；
Resolve module, for being resolved according to the observation data that cycle slip judged result and decoding obtain in server end,
And store, in server end, the filter status parameter information that current epoch resolves acquisition；
Wave filter recovery module, if interrupting for resolving, after server end is restarted, using the filter status parameter of storage
Recover to interrupt the wave filter under epoch, continue to resolve the resolving state before interrupting using the wave filter recovering.
Compared to the prior art, the present invention has following features and beneficial effect：
1st, Detection of Cycle-slip module is moved on to receiver end, overcome server end Detection of Cycle-slip when data sampling rate is higher
Effect is poor and cannot be carried out the defect of Detection of Cycle-slip after interrupting restarting；And different samplings can be broadcast according to server end demand
The observation data of rate.
2nd, server end passes through real-time to preserve filter status parameter information so that having no progeny in server end and can utilizing
Before disconnected, the state parameter information of storage recovers wave filter, need not reinitialize the resolving state fortune before can continuing at once to interrupt
OK, it is to avoid longer convergence time, real-time and the reliability of service system are substantially increased, thus can the company of providing the user
Continuous, consistent precision differential product is it is ensured that hi-Fix service.
Brief description
Fig. 1 is the particular flow sheet of the present invention.
Specific embodiment
Further illustrate technical solution of the present invention below in conjunction with the drawings and specific embodiments.
" receiver " i.e. appearing below " reference receiver ", " server " i.e. " receiver resolving server ".
The present invention includes receiver end data prediction server end post processing two parts.When being embodied as, receiver
First pass through Detection of Cycle-slip module and the original observed data receiving is carried out with Detection of Cycle-slip acquisition cycle slip temporal information, then by week
Jump temporal information and original observed data to send to server end by RTCM coding.Server end first passes through RTCM decoding and obtains
Obtain observation data and the cycle slip temporal information of each satellite；Then, judged by cycle slip and filter estimation and carry out precision differential product
Resolve, resolve and preserve the state parameter information of current epoch respective filter after terminating to storage disk.Service end solver
Once interrupting restarting, recover wave filter so that wave filter can continue immediately by reading the state parameter information interrupting front preservation
State before continuous interruption is run.
First, receiver end data prediction.
The Detection of Cycle-slip module of real-time resolving system is located at server end at present.For low sampled data, difference between epoch
Residual error is larger afterwards, and Detection of Cycle-slip reliability is relatively low；Once running into network blockage or server end interrupting leading to adjacent epoch
Time interval is larger, and data preprocessing module need to reinitialize.
Detection of Cycle-slip module is built into receiver end by the present invention：
1) the commonly used dual-frequency receiver of base station and sample rate higher (not less than 0.2Hz), through epoch between each after difference
Item error concealment is all more clean, highly beneficial to Detection of Cycle-slip.The Cycle Slips Detection commonly used at present has TurboEdit method,
The method combines MW combination and the pluses and minuses of GF combination, can obtain preferable Detection of Cycle-slip effect.
(1) MW combined detection cycle slip：
MW combination observation lMWFor：
In formula (1),For wide lane wavelength, f1And f2It is carrier wave L respectively1And L2Frequency, Φ and P be respectively with
Rice is carrier wave and the Pseudo-range Observations of unit.
MW combination eliminates the shadow of the error relevant with geometric distance, tropospheric delay error and ionosphere delay error
Ring, only remaining width lane ambiguity, in the case of not having cycle slip, wide lane ambiguity is constant, can be used to accordingly detect cycle slip；But MW
Combination introduce Pseudo-range Observations, its noise larger it is difficult to detect little cycle slip, simultaneously MW combination also cannot detect L1 and L2 frequency
The observation of identical cycle slip is occurred on rate.
(2) Geometry-Free combined detection cycle slip：
Free-geometry combination can be expressed as：
In formula (2), ρ is the geometric distance between receiver for the satellite, and A is the ionosphere factor, N1And N2For what L2 frequency of L1
Fuzziness parameter, orderThen (2) can be reduced to：
lGF=Δ dIon+ (λ1N1-λ2N2) (3)
GF combination eliminates the relevant error of geometric distance and the impact of the error term relevant with frequency, only remaining remnants
Ionosphere delay impact and fuzziness parameter, because reference receiver sample rate is higher, between epoch, Ionospheric variability is more flat
Slow, therefore GF combination observation is slowly varying and more smooth curve.
2) through Detection of Cycle-slip, the time that satellite occurs cycle slip for the last time, i.e. cycle slip temporal information are obtained, receiver end will
The cycle slip temporal information of each satellite and original observed data encoded along after, send to server end, its coded format is shown in Table 1.
Table 1 coded format
| Data content | Bit/s | Explanation |
| Original observed data | — | Follow corresponding RTCM agreement |
| The cycle slip time | 20 | Zhou Miao |
3) according to actual needs coded data is broadcast to service end using different sample rates.
2nd, server end post processing
Server end obtains observing data and cycle slip temporal information by decoding, no longer carries out Detection of Cycle-slip, only carries out essence
The real-time resolving of close difference product, can be using Kalman filter or other routine filtering methods of estimation.Resolve knot in each epoch
Preserve the state parameter information of this epoch respective filter after bundle, after service end meets abnormal restarting, deposit before being interrupted by reading
The filter status parameter information of storage builds wave filter so that server end can carry out real-time resolving without convergence process.
Server end post processing of the present invention mainly includes：
S1, cycle slip judge：
A () server end passes through the cycle slip temporal information that decoding obtains each every satellite of base station；
B () compares the second cycle slip time of the first cycle slip temporal information server end record that current epoch decoding obtains
Information judges whether satellite occurs cycle slip：If hop-information was different with second week hop-information in first week, illustrate that corresponding satellite is sent out
Raw cycle slip；Otherwise then there is not cycle slip.Second cycle slip temporal information initial value of server end record is that initial epoch decoding obtains
The cycle slip temporal information obtaining.If it is determined that generation cycle slip, using the second cycle slip of the first cycle slip information updating server end record
Information, the cycle slip for next epoch judges.
When in this step, the comparison of cycle slip temporal information is by the first cycle slip temporal information of same satellite and the second cycle slip
Between information compare, to judge whether this satellite occurs cycle slip.
C () receiver end data prediction there may be the cycle slip that very small amount not yet detects, can pass through residual error Editorial Services
Reason observation data, after the cycle slip not detected with rejecting, is resolved again and eliminates remaining cycle slip impact, renewal simultaneously is recorded
All hop-informations.
The ultimate principle of residual error editor is：If certain satellite observation has the cycle slip not detected or rough error, it is fixed
Position result residual error should be big compared with other satellites.The purpose of residual error editor is that algorithm positions the larger satellite of residual error and rejects this satellite.
S2, resolving obtain filter status parameter：
Obtain observation data and the cycle slip temporal information of each satellite of current epoch by decoding；Satellite is judged according to step S1
Whether there is cycle slip, if there is cycle slip, resolving the fuzziness parameter of initialization cycle slip satellite by pseudorange；Then, using solution
The observation data that code obtains carries out real-time resolving, thus realizing positioning.If there is not cycle slip, directly using the sight of decoding acquisition
Survey data and carry out real-time resolving.
S3, the storage of filter status parameter information：
After resolving terminates, under storage current epoch, the state parameter information of wave filter, is shown in Table 2：
Table 2 filter status parameter information
Furthermore it is also possible to store following data according to the needs of the real-time resolving algorithm being adopted in server end：
(1) the cycle slip temporal information of each satellite that decoding obtains；
(2) the observation data of nearest n epoch, n carries out value with the computation being adopted according to actual needs；
(3) current epoch temporal information；
(4) other information, such as：In data delay information in real-time resolving, adaptive-filtering resolving, each base station is many
Routing information, data quality information of each satellite etc..
To taking Kalman filter method as a example illustrate the solution process of server end below, step is as follows：
(1) the filter status parameter being resolved according to a upper epoch and its variance-covariance matrix information are carried out
Kalman filter is predicted, if initial epoch, then needs given filter status initial parameter values.
(2) server end decoding obtains observation data and the cycle slip temporal information of each satellite of each base station, during according to cycle slip
Between information judge respective satellite the need of reinitializing unknown parameter：
If 2.1 current epoch are initial epoch Tk(k=0), record the cycle slip temporal information of each satellite of base station, continue step
Suddenly (3).
2.2, by comparing first week hop-information and the second week hop-information recording that current epoch decoding obtains, judge to defend
Whether star there is cycle slip：If hop-information was different with second week hop-information in first week, illustrate that satellite occurs cycle slip；Conversely, not sending out
Raw cycle slip.In the event of cycle slip, using the second week hop-information of the first cycle slip information updating record, for the cycle slip of next epoch
Judge.
2.3 pass through the very small amount cycle slip that residual error editor rejecting does not detect, and the cycle slip temporal information of more new record.
If not having satellite that cycle slip occurs, it is directly entered step (3)；If there is satellite cycle slip occurs, reinitialize
Step (3) is entered after the relevant parameter of the satellite of this generation cycle slip.
(3) the observation data real-time resolving according to decoding the filter status parameter information under obtaining current epoch, adopt
Update wave filter with filter status parameter information and preserve.
(4) repeat step (1)～(3) can carry out real-time resolving.
Server end post-processing function mainly uses observation data and the cycle slip temporal information that decoding obtains, and carries out in real time
Resolve, and each epoch resolve terminate after preserve the state parameter information of wave filter under this epoch；When server end runs into exception
After interrupting restarting, by reading the filter status parameter information reconfigurable filter interrupting front storage so that server end need not
Convergence process can carry out real-time resolving.
S4, server end interrupt restarting postfilter structure：
If server end collapse or aborted, the filter status parameter information restarting the storage of rear reading service device end is extensive
Wave filter before multiple interruption, and repeat step S2 can continue the resolving state operation before interruption.
Assume server end in epoch TkCollapse or aborted, in epoch Tk+mRestart the storage of rear reading service device end
Epoch TkLower filter status parameter information, for recovering epoch TkUnder wave filter, then repeat step S2 can make server
Resolving state before end continues directly to without convergence time interrupt is run.
Claims (8)
1. distributed GNSS real-time data processing method is it is characterised in that include：
Step 1, carries out Detection of Cycle-slip in receiver end to the original observed data receiving, and obtains cycle slip temporal information, during cycle slip
Between information be the time that each satellite occurs cycle slip for the last time；
Step 2, sends to server end after receiver end is by cycle slip temporal information and original observed data coding；
Step 3, is decoded to the coded data receiving in server end, obtains observation data and cycle slip temporal information；
Step 4, server end by compare current epoch decoding obtain cycle slip temporal information and on one epoch decoding obtain
Cycle slip temporal information whether identical, judge under current epoch, whether satellite occurs cycle slip；
Step 5, is resolved according to the observation data that cycle slip judged result and decoding obtain in server end, and in server end
Storage current epoch resolves the filter status parameter information obtaining；
Step 6, if resolve interrupting, after server end is restarted, the filter status Parameter reconstruction using storage interrupted under epoch
Wave filter, continues to resolve the resolving state before interrupting using the wave filter recovering.
2. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
In receiver end, Detection of Cycle-slip is carried out to the original observed data receiving using TurboEdit method in step 1.
3. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
In step 2, cycle slip temporal information and original observed data are encoded using RTCM coded system in receiver end；With
When, in step 3, it is decoded obtaining observation data and cycle slip temporal information using RTCM decoding process in server end.
4. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
Step 4 is specially：
The second cycle slip temporal information that the first cycle slip temporal information server end that relatively current epoch decoding obtains stores, the
The initial value of two cycle slip temporal informations is the cycle slip temporal information that initial epoch decoding obtains；If the first cycle slip temporal information and
Two cycle slip temporal informations are different, then respective satellite occurs cycle slip, believed using first cycle slip time information renovation the second cycle slip time
Breath；Conversely, there is not cycle slip in respective satellite.
5. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
After step 5 is resolved, using the observation data of residual error editing and processing decoding acquisition, reject the satellite not detecting cycle slip
Observation data.
6. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
Being resolved according to the observation data that cycle slip judged result and decoding obtain in server end, specifically described in step 5
For：
If satellite does not occur cycle slip, directly resolved using the observation data that decoding obtains；
If satellite occurs cycle slip, resolve the fuzziness parameter of initialization cycle slip satellite by pseudorange, then obtained using decoding
Observation data resolved.
7. distributed GNSS real-time data processing method as claimed in claim 1 it is characterised in that：
Resolved using Kalman filtering method in step 5.
8. distributed GNSS real-time data processing system is it is characterised in that include：
Detection of Cycle-slip module, for carrying out Detection of Cycle-slip in receiver end to the original observed data receiving, obtains the cycle slip time
Information, cycle slip temporal information is the time that each satellite occurs cycle slip for the last time；
Coding and transport module, for sending to service after cycle slip temporal information and original observed data are encoded by receiver end
Device end；
Decoder module, for being decoded to the coded data receiving in server end, obtains observation data and cycle slip time letter
Breath；
Cycle slip judge module, for server end by compare the cycle slip temporal information that current epoch decoding obtains and on one go through
Whether the cycle slip temporal information that unit's decoding obtains is identical, judges under current epoch, whether satellite occurs cycle slip；
Resolve module, for being resolved according to the observation data that cycle slip judged result and decoding obtain in server end, and
Server end stores current epoch and resolves the filter status parameter information obtaining；
Wave filter recovery module, if interrupting for resolving, after server end is restarted, using the filter status Parameter reconstruction of storage
Interrupt the wave filter under epoch, continue to resolve the resolving state before interrupting using the wave filter recovering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510040564.2A CN104570009B (en) | 2015-01-27 | 2015-01-27 | distributed GNSS real-time data processing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510040564.2A CN104570009B (en) | 2015-01-27 | 2015-01-27 | distributed GNSS real-time data processing method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104570009A CN104570009A (en) | 2015-04-29 |
| CN104570009B true CN104570009B (en) | 2017-02-22 |
Family
ID=53086524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510040564.2A Active CN104570009B (en) | 2015-01-27 | 2015-01-27 | distributed GNSS real-time data processing method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104570009B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329825B (en) * | 2017-06-13 | 2020-10-27 | 千寻位置网络有限公司 | GNSS algorithm verification method and system, positioning terminal and memory |
| CN107918138A (en) * | 2017-11-28 | 2018-04-17 | 千寻位置网络有限公司 | " cloud+end " comprehensive positioning terminal positioner and Differential positioning method |
| CN109283552B (en) * | 2018-09-14 | 2020-10-30 | 广州磐钴智能科技有限公司 | Satellite high-precision positioning rapid environment monitoring method and device |
| CN109029237B (en) * | 2018-09-20 | 2020-09-08 | 中电建路桥集团有限公司 | GNSS monitoring network quasi-dynamic data processing method based on static baseline observation value |
| CN109597102B (en) * | 2018-09-27 | 2020-10-09 | 广州市中海达测绘仪器有限公司 | Data measuring method, data measuring device, computer equipment and storage medium |
| CN109631892B (en) * | 2019-01-22 | 2020-04-10 | 武汉大学 | Integrated navigation data processing method for IMU data interruption |
| CN113484884A (en) * | 2021-07-19 | 2021-10-08 | 航天科工海鹰集团有限公司 | Customizable PPK algorithm |
| CN116881088B (en) * | 2023-09-06 | 2023-11-28 | 长沙金维信息技术有限公司 | System monitoring method and device, storage medium and electronic device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529462A (en) * | 2013-10-21 | 2014-01-22 | 西南交通大学 | Probing and repairing method for dynamic cycle slip of global navigation satellite system |
| CN103547344A (en) * | 2013-07-15 | 2014-01-29 | 华为技术有限公司 | Method, device and receiver for cycle slip |
| JP2014215167A (en) * | 2013-04-25 | 2014-11-17 | 古野電気株式会社 | Gnss state display device and gnss state display method |
-
2015
- 2015-01-27 CN CN201510040564.2A patent/CN104570009B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014215167A (en) * | 2013-04-25 | 2014-11-17 | 古野電気株式会社 | Gnss state display device and gnss state display method |
| CN103547344A (en) * | 2013-07-15 | 2014-01-29 | 华为技术有限公司 | Method, device and receiver for cycle slip |
| CN103529462A (en) * | 2013-10-21 | 2014-01-22 | 西南交通大学 | Probing and repairing method for dynamic cycle slip of global navigation satellite system |
Non-Patent Citations (2)
| Title |
|---|
| GPS数据质量控制中实时周跳探测研究;方荣新 等;《武汉大学学报·信息科学版》;20090930;第34卷(第9期);1094-1097 * |
| 顾及接收机钟跳的北斗系统周跳探测方法;王俊杰 等;《导航定位学报》;20140630;第2卷(第2期);54-57 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104570009A (en) | 2015-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104570009B (en) | distributed GNSS real-time data processing method and system | |
| Liu | A new automated cycle slip detection and repair method for a single dual-frequency GPS receiver | |
| CN103348261A (en) | Navigation system and method for resolving integer ambiguities using double difference ambiguity constraints | |
| CN108072887A (en) | Single base station marine real-time dynamic positioning method at a distance | |
| FR2869110A1 (en) | METHOD AND APPARATUS FOR POSITIONING BY RTK-TYPE SATELLITES WITH DECORRELATION AND ADJUSTMENT OF AUTOMATIC PARAMETERS | |
| CN103675854B (en) | Based on the hyperchannel time service approximating method of big-dipper satellite | |
| Ju et al. | Enhanced cycle slip detection method for dual-frequency BeiDou GEO carrier phase observations | |
| EP3494402A1 (en) | System and global method for geolocation using imprecise distance and anchor position measurements | |
| Kim et al. | Instantaneous Real‐Time Cycle‐Slip Correction for Quality Control of GPS Carrier‐Phase Measurements | |
| CN107505642A (en) | A kind of real-time BDS single-frequency Cycle Slips Detection of INS auxiliary | |
| CN111427068B (en) | Method for monitoring integrity of ephemeris faults of type A satellites of dynamic-to-dynamic platform local augmentation | |
| EP2869083B1 (en) | Method for checking the integrity of satellite measurements | |
| KR20180041212A (en) | Determine multiple EPOCH GNSS carrier-phase constants | |
| Liu et al. | An improved robust Kalman filtering strategy for GNSS kinematic positioning considering small cycle slips | |
| WO2015063607A2 (en) | Method and apparatus for frame synchronization in a positioning system | |
| CN108508459B (en) | Online positioning obstacle removing method and device and positioning system | |
| CN114355390B (en) | Fault detection method, device and equipment for server-side product and storage medium | |
| CN107807368A (en) | Localization method and alignment system based on moonscope amount | |
| Knowles et al. | Euclidean distance matrix-based rapid fault detection and exclusion | |
| CN110907973B (en) | Network RTK baseline double-difference ambiguity checking method, device and positioning method | |
| CN103760586A (en) | Method for fast detecting and restoring cycle slip in GPS attitude measurement | |
| CN109444924A (en) | A kind of satellite ephemeris fault monitoring method based on the more reference receivers of short baseline | |
| Banville et al. | Cycle-slip correction for single-frequency PPP | |
| CN107422341B (en) | Method and device for realizing signal capture | |
| CN109946722B (en) | Multi-system multi-frequency-band positioning method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210707 Address after: 21d-01, building 2, chengyangmingyuan, 6017 Shennan Avenue, Tian'an community, Shatou street, Futian District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen weiborei Information Technology Co.,Ltd. Address before: 430072 Hubei Province, Wuhan city Wuchang District of Wuhan University Luojiashan Patentee before: WUHAN University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220407 Address after: 518000 607, floor 1-7, building J, Jianshe Industrial Park, north of Baocheng Chuangye Road, Xingdong community, Xin'an street, Bao'an District, Shenzhen, Guangdong Province Patentee after: Shenzhen Zhilian spacetime Technology Co.,Ltd. Address before: 21d-01, building 2, chengyangmingyuan, 6017 Shennan Avenue, Tian'an community, Shatou street, Futian District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen weiborei Information Technology Co.,Ltd. |