CN105652298A - Cycle slip detection and restoring method and device based on BDS three-frequency pseudo range phase combination - Google Patents
Cycle slip detection and restoring method and device based on BDS three-frequency pseudo range phase combination Download PDFInfo
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- 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
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- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a cycle slip detection and restoring method and device based on BDS three-frequency pseudo range phase combination, and relates to the technical field of satellite positioning. The method comprises the steps of: obtaining a polynomial fitting equation; determining a middle error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation, and determining a prediction value of a combination carrier observed value of the current epoch according to the polynomial fitting equation; determining whether the absolute value of the difference between the prediction value of the combination carrier observed value of the current epoch and a measured value of the combination carrier observed value of the current epoch is smaller than a number 3 times of the middle error of polynomial fitting equation; if the absolute value is determined to be larger than the number 3 times of the middle error of polynomial fitting equation, determining that cycle slip happens to the current epoch; and obtaining the cycle slip value of each frequency point of the current epoch, and restoring the cycle slip value of each frequency point of the current epoch. According to the invention, the condition of a cycle slip resolving error is avoided, and the precision of cycle slip detection and restoring is improved.
Description
Technical field
The present invention relates to technical field of satellite, particularly relate to Detection of Cycle-slip restorative procedure and the device of a kind of BDS tri-frequency pseudorange phase combination.
Background technology
Receiver is in the process receiving satellite-signal, due to barrier block, the factor such as receiver fault and low signal-to-noise ratio causes satellite-signal temporarily to interrupt, carrier phase observation data complete cycle counting is caused to be undergone mutation, and the still correct phenomenon of the part less than a week is called cycle slip, the existence of cycle slip has had a strong impact on carrier observations, therefore, must be eliminated in high accuracy navigation and location. The determination of cycle slip is distinctive problem in carrier phase measurement, want to obtain high-precision carrier observations, it is accomplished by first determining cycle slip, known BDS ((BeiDouNavigationSatelliteSystem, China's Beidou satellite navigation system) broadcast the carrier signal of three frequencies, how to utilize the advantages detection cycle slips of three frequency combinations to become the focus of research.
Although the Detection of Cycle-slip restorative procedure detection accuracy of BDS tri-of the prior art frequency pseudorange phase combination is high, major part cycle slip can be detected by choosing suitable combination coefficient, but when low sampling rate, owing to the sampling interval is big, star distance change of standing between epoch is big, and the impact of noise residual sum Ionosphere Residual Error becomes big so that cycle slip inspection quantitative change is big, cause that having cycle slip resolves the situation appearance of mistake, reduces the precision of detection and reparation for cycle slips.
Summary of the invention
In view of this, the present invention provides Detection of Cycle-slip restorative procedure and the device of a kind of BDS tri-frequency pseudorange phase combination, for avoiding the situation that cycle slip resolves mistake to occur, improves the precision of detection and reparation for cycle slips.
The present invention solves the problems referred to above by techniques below means:
The present invention provides a kind of BDS tri-Detection of Cycle-slip restorative procedure of frequency pseudorange phase combination, including: obtain polynomial-fitting function; Residual error according to described polynomial-fitting function and described polynomial-fitting function determines the middle error of described polynomial-fitting function, and determines the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function;Determine the middle error of the absolute value whether described polynomial-fitting function less than k times of the difference of the measured value of the combined carriers observation of predictive value and the described current epoch of the combined carriers observation of described current epoch; Wherein, described k is positive integer; When the middle error of described polynomial-fitting function more than k times of the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu described current epoch of determining described current epoch, it is determined that current epoch generation cycle slip; Obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch.
Further, the cycle slip value of the described each frequency of acquisition current epoch includes: according to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1* �� n; Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
Further, after the cycle slip value of the described each frequency of reparation current epoch, also include: determine the combination cycle slip value �� N after reparation according to the cycle slip value of each frequency of current epoch after described detection matrix A and reparationB; DetermineWhether more than zero; Wherein,Detection threshold for described combination observation; DeterminingDuring more than zero, the difference of the predictive value of the combined carriers observation of described current epoch Yu the measured value of the combined carriers observation of described current epoch is rounded, and the cycle slip value of each frequency is again resolved according to described detection matrix A and the cycle slip value that obtains after rounding, repair the cycle slip value of each frequency obtained after again resolving, and according to described detection matrix A and after repairing described in again resolve after the cycle slip value of each frequency that obtains determine the combination cycle slip value after again repairing, until the difference of the detection threshold of the absolute value of combination cycle slip value after again repairing described in determining and combination observation is less than or equal to zero.
Further, described acquisition polynomial-fitting function includes: obtain m the carrier observations without complete cycle saltus step; Wherein, described m is positive integer; Adopt method of least square, and obtain polynomial-fitting function according to described m the carrier observations without complete cycle saltus stepWherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function; Residual error according to described polynomial-fitting function and described polynomial-fitting function determines that the middle error of described polynomial-fitting function includes: according to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
Further, described k is equal to 3.
The present invention provides a kind of BDS tri-Detection of Cycle-slip prosthetic device of frequency pseudorange phase combination, including: acquiring unit, it is used for obtaining polynomial-fitting function; Determine unit, for determining the middle error of described polynomial-fitting function according to the residual error of described polynomial-fitting function and described polynomial-fitting function, and determine the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function; Described determine unit, be additionally operable to the middle error of the absolute value of the predictive value determining the combined carriers observation of described current epoch and the difference of the measured value of the combined carriers observation of described current epoch whether described polynomial-fitting function less than k times;Wherein, described k is positive integer; Described determine unit, when being additionally operable to the middle error of the absolute value of difference of combined carriers measured value at the carrier wave predictive value Yu described current epoch the determining described current epoch described polynomial-fitting function more than k times, it is determined that current epoch generation cycle slip; Described acquiring unit, is additionally operable to obtain the cycle slip value of each frequency of current epoch; Processing unit, for repairing the cycle slip value of each frequency of current epoch.
Further, described acquiring unit, specifically for according to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1* �� n; Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
Further, described determine unit, be additionally operable to the combination cycle slip value �� N after the cycle slip value according to described detection matrix A and each frequency of current epoch after repairing determines reparationB; Described determine unit, be additionally operable to determineWhether more than zero; Wherein,Detection threshold for described combination observation; Described processing unit, is additionally operable to determine that unit is determined describedDuring more than zero, the difference of the predictive value of the combined carriers observation of described current epoch Yu the measured value of the combined carriers observation of described current epoch is rounded, and the cycle slip value of each frequency is again resolved according to described detection matrix A and the cycle slip value that obtains after rounding, repair the cycle slip value of each frequency obtained after again resolving, and according to described detection matrix A and after repairing described in again resolve after the cycle slip value of each frequency that obtains determine the combination cycle slip value after again repairing, until the difference of the detection threshold of the absolute value of combination cycle slip value after again repairing described in determining and combination observation is less than or equal to zero.
Further, described acquiring unit, specifically for obtaining m the carrier observations without complete cycle saltus step; Wherein, described m is positive integer; Described acquiring unit, specifically for adopting method of least square, and obtains polynomial-fitting function according to described m the carrier observations without complete cycle saltus stepWherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function; Described determine unit, specifically for according to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
Further, described k is equal to 3.
The Detection of Cycle-slip restorative procedure of a kind of BDS tri-provided by the invention frequency pseudorange phase combination and device, the predictive value of the combined carriers observation of current epoch is got according to polynomial-fitting function, when the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu described current epoch of determining current epoch is more than the middle error of the polynomial-fitting function of k times, determine current epoch generation cycle slip, now, obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch, so, when low sampling rate, it can be avoided that the situation that cycle slip resolves mistake occurs, improve the precision of detection and reparation for cycle slips.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the Detection of Cycle-slip restorative procedure of a kind of BDS tri-provided by the invention frequency pseudorange phase combination;
Fig. 2 is the schematic flow sheet of the Detection of Cycle-slip restorative procedure of another kind of BDS tri-frequency pseudorange phase combination provided by the invention;
Fig. 3 is the functional schematic of the Detection of Cycle-slip prosthetic device of a kind of BDS tri-provided by the invention frequency pseudorange phase combination.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to Fig. 1, it is the schematic flow sheet of the Detection of Cycle-slip restorative procedure of a kind of BDS tri-provided by the invention frequency pseudorange phase combination, comprises the steps:
101, polynomial-fitting function is obtained.
Concrete, the step obtaining polynomial-fitting function is as follows:
Obtain m the carrier observations without complete cycle saltus step; Wherein, described m is positive integer;
Adopt method of least square, and obtain polynomial-fitting function according to described m the carrier observations without complete cycle saltus step
Wherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function.
It should be noted that when obtaining polynomial-fitting function, it is necessary to determining polynomial order k and matching window width m according to the actual requirements, if polynomial order k is too low, fitting precision is not high; If polynomial order k is too high, amount of calculation is too big and the increase that causes a deviation, so it is 3 or 4 that the present invention chooses k; Additionally, due to As time goes on, the precision of fitting of a polynomial can be gradually reduced, so generally choosing the matching window of slip to predict the carrier value of next epoch, namely getting rid of initial a part of observation, adding the follow-up actual observed value without cycle slip of equivalent, repeat above-mentioned fitting of a polynomial process, if matching window width m is less, fitting precision is not high, the value inaccuracy of extrapolation; If matching window width m is bigger, the value of extrapolation can be more accurate, but can increase amount of calculation, and the present invention, according to different width tests, obtains precision during m=6��8 and is suitable for.
102, determine the middle error of described polynomial-fitting function according to the residual error of described polynomial-fitting function and described polynomial-fitting function, and determine the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function.
Concrete, according to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
103, the middle error of the absolute value whether described polynomial-fitting function less than k times of the difference of the measured value of the combined carriers observation of predictive value and the described current epoch of the combined carriers observation of described current epoch is determined.
Wherein, described k is positive integer.
Preferably, k is equal to 3.
It should be noted that, according to the difference determining result, the step of following execution is also different, when the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu current epoch of determining current epoch is more than the middle error of the polynomial-fitting function of k times, perform step 104 and step 105, when the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu current epoch of determining current epoch is less than or equal to the middle error of the polynomial-fitting function of k times, think that cycle slip does not occur current epoch, do not perform following either step.
104, when the middle error of the absolute value of the difference of the combined carriers measured value of the carrier wave predictive value Yu described current epoch of the determining described current epoch described polynomial-fitting function more than k times, it is determined that current epoch generation cycle slip.
105, obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch.
Concrete, according to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1*��n��
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
As the further improvement of technique scheme, as in figure 2 it is shown, after performing above-mentioned steps 105, also include:
106, the combination cycle slip value �� N after reparation is determined according to the cycle slip value of each frequency of current epoch after described detection matrix A and reparationB��
107, determineWhether more than zero.
Wherein,For the detection threshold of described combination observation,For combining the middle error of Detection of Cycle-slip detection limit.
Concrete,It is according to combination cycle slip value �� NBObtaining with law of propagation of errors, concrete formula is
In formula,Represent and do difference between epoch,Represent error in carrier wave, it is assumed here that����Represent error in pseudorange, ai,bi,ci��ui,vi,wi(i=1,2,3) carrier combination coefficient and pseudo-range integration coefficient are represented respectively.
It should be noted that different according to the result determined, the step of following execution is also different, is determiningDuring more than zero, perform step 108; DeterminingDuring less than or equal to zero, do not perform following step.
108, determiningDuring more than zero, the difference of the predictive value of the combined carriers observation of described current epoch Yu the measured value of the combined carriers observation of described current epoch is rounded, and the cycle slip value of each frequency is again resolved according to described detection matrix A and the cycle slip value that obtains after rounding, repair the cycle slip value of each frequency obtained after again resolving, and according to described detection matrix A and after repairing described in again resolve after the cycle slip value of each frequency that obtains determine the combination cycle slip value after again repairing, until the difference of the detection threshold of the absolute value of combination cycle slip value after again repairing described in determining and combination observation is less than or equal to zero.
The invention provides the Detection of Cycle-slip restorative procedure of a kind of BDS tri-frequency pseudorange phase combination, the predictive value of the combined carriers observation of current epoch is got according to polynomial-fitting function, when the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu described current epoch of determining current epoch is more than the middle error of the polynomial-fitting function of k times, determine current epoch generation cycle slip, now, obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch, so, when low sampling rate, it can be avoided that the situation that cycle slip resolves mistake occurs, improve the precision of detection and reparation for cycle slips. further, the cycle slip value of each frequency of current epoch after reparation is verified by the present invention, when the cycle slip value of each frequency of current epoch after repairing is unsatisfactory for requiring, the difference of the predictive value of the combined carriers observation of current epoch Yu the measured value of the combined carriers observation of current epoch is rounded, and the cycle slip value of each frequency is again resolved according to the cycle slip value obtained after detecting matrix A and rounding, repair the cycle slip value of each frequency obtained after again resolving, until meeting requirement, further increase the precision of detection and reparation for cycle slips.
The invention provides the Detection of Cycle-slip prosthetic device of a kind of BDS tri-frequency pseudorange phase combination, as it is shown on figure 3, include: acquiring unit 301, determine unit 302 and processing unit 303.
Described acquiring unit 301, is used for obtaining polynomial-fitting function.
Described acquiring unit 301, specifically for obtaining m the carrier observations without complete cycle saltus step.
Wherein, described m is positive integer.
Described acquiring unit 301, specifically for adopting method of least square, and obtains polynomial-fitting function according to described m the carrier observations without complete cycle saltus step
Wherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function.
Described determine unit 302, for determining the middle error of described polynomial-fitting function according to the residual error of described polynomial-fitting function and described polynomial-fitting function, and determine the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function.
Described determine unit 302, specifically for according to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
Described determine unit 302, be additionally operable to the middle error of the absolute value of the predictive value determining the combined carriers observation of described current epoch and the difference of the measured value of the combined carriers observation of described current epoch whether described polynomial-fitting function less than k times.
Wherein, described k is positive integer.
Preferably, k is equal to 3.
Described determine unit 302, when being additionally operable to the middle error of the absolute value of difference of combined carriers measured value at the carrier wave predictive value Yu described current epoch the determining described current epoch described polynomial-fitting function more than k times, it is determined that current epoch generation cycle slip;
Described acquiring unit 301, is additionally operable to obtain the cycle slip value of each frequency of current epoch.
Described acquiring unit 301, specifically for according to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1*��n��
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
Described processing unit 303, for repairing the cycle slip value of each frequency of current epoch.
The invention provides the Detection of Cycle-slip prosthetic device of a kind of BDS tri-frequency pseudorange phase combination, the predictive value of the combined carriers observation of current epoch is got according to polynomial-fitting function, when the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu described current epoch of determining current epoch is more than the middle error of the polynomial-fitting function of k times, determine current epoch generation cycle slip, now, obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch, so, when low sampling rate, it can be avoided that the situation that cycle slip resolves mistake occurs, improve the precision of detection and reparation for cycle slips. further, the cycle slip value of each frequency of current epoch after reparation is verified by the present invention, when the cycle slip value of each frequency of current epoch after repairing is unsatisfactory for requiring, the difference of the predictive value of the combined carriers observation of current epoch Yu the measured value of the combined carriers observation of current epoch is rounded, and the cycle slip value of each frequency is again resolved according to the cycle slip value obtained after detecting matrix A and rounding, repair the cycle slip value of each frequency obtained after again resolving, until meeting requirement, further increase the precision of detection and reparation for cycle slips.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, can be by the hardware that computer program carrys out instruction relevant to complete, described program can be stored in a computer read/write memory medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each side method. Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM) or random store-memory body (RandomAccessMemory, RAM) etc.
The above is the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (10)
1. the Detection of Cycle-slip restorative procedure of a BDS tri-frequency pseudorange phase combination, it is characterised in that including:
Obtain polynomial-fitting function;
Residual error according to described polynomial-fitting function and described polynomial-fitting function determines the middle error of described polynomial-fitting function, and determines the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function;
Determine the middle error of the absolute value whether described polynomial-fitting function less than k times of the difference of the measured value of the combined carriers observation of predictive value and the described current epoch of the combined carriers observation of described current epoch; Wherein, described k is positive integer;
When the middle error of described polynomial-fitting function more than k times of the absolute value of difference of combined carriers measured value of the carrier wave predictive value Yu described current epoch of determining described current epoch, it is determined that current epoch generation cycle slip;
Obtain the cycle slip value of each frequency of current epoch, and repair the cycle slip value of each frequency of current epoch.
2. the Detection of Cycle-slip restorative procedure of BDS tri-according to claim 1 frequency pseudorange phase combination, it is characterised in that the cycle slip value of the described each frequency of acquisition current epoch includes:
According to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1* �� n;
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
3. the Detection of Cycle-slip restorative procedure of BDS tri-according to claim 2 frequency pseudorange phase combination, it is characterised in that after the cycle slip value of the described each frequency of reparation current epoch, also include:
Cycle slip value according to each frequency of current epoch after described detection matrix A and reparation determines the combination cycle slip value �� N after reparationB;
DetermineWhether more than zero; Wherein,Detection threshold for described combination observation;
DeterminingDuring more than zero, the difference of the predictive value of the combined carriers observation of described current epoch Yu the measured value of the combined carriers observation of described current epoch is rounded, and the cycle slip value of each frequency is again resolved according to described detection matrix A and the cycle slip value that obtains after rounding, repair the cycle slip value of each frequency obtained after again resolving, and according to described detection matrix A and after repairing described in again resolve after the cycle slip value of each frequency that obtains determine the combination cycle slip value after again repairing, until the difference of the detection threshold of the absolute value of combination cycle slip value after again repairing described in determining and combination observation is less than or equal to zero.
4. the Detection of Cycle-slip restorative procedure of the BDS tri-frequency pseudorange phase combination according to any one of claim 1-3, it is characterised in that described acquisition polynomial-fitting function includes:
Obtain m the carrier observations without complete cycle saltus step;Wherein, described m is positive integer;
Adopt method of least square, and obtain polynomial-fitting function according to described m the carrier observations without complete cycle saltus stepWherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function;
Residual error according to described polynomial-fitting function and described polynomial-fitting function determines that the middle error of described polynomial-fitting function includes:
According to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
5. the Detection of Cycle-slip restorative procedure of BDS tri-according to claim 1 frequency pseudorange phase combination, it is characterised in that described k is equal to 3.
6. the Detection of Cycle-slip prosthetic device of a BDS tri-frequency pseudorange phase combination, it is characterised in that including:
Acquiring unit, is used for obtaining polynomial-fitting function;
Determine unit, for determining the middle error of described polynomial-fitting function according to the residual error of described polynomial-fitting function and described polynomial-fitting function, and determine the predictive value of the combined carriers observation of current epoch according to described polynomial-fitting function;
Described determine unit, be additionally operable to the middle error of the absolute value of the predictive value determining the combined carriers observation of described current epoch and the difference of the measured value of the combined carriers observation of described current epoch whether described polynomial-fitting function less than k times; Wherein, described k is positive integer;
Described determine unit, when being additionally operable to the middle error of the absolute value of difference of combined carriers measured value at the carrier wave predictive value Yu described current epoch the determining described current epoch described polynomial-fitting function more than k times, it is determined that current epoch generation cycle slip;
Described acquiring unit, is additionally operable to obtain the cycle slip value of each frequency of current epoch;
Processing unit, for repairing the cycle slip value of each frequency of current epoch.
7. the Detection of Cycle-slip prosthetic device of BDS tri-according to claim 6 frequency pseudorange phase combination, it is characterised in that
Described acquiring unit, specifically for according to equationResolve the cycle slip value of each frequency of current epoch, obtain �� N=A-1* �� n;
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziThe detection matrix obtained, i=1,2,3, �� N are the cycle slip value set of each frequency, and �� n is the set of the cycle slip value of three three frequency pseudorange phase combination of current epoch.
8. the Detection of Cycle-slip prosthetic device of BDS tri-according to claim 7 frequency pseudorange phase combination, it is characterised in that
Described determine unit, be additionally operable to the combination cycle slip value �� N after the cycle slip value according to described detection matrix A and each frequency of current epoch after repairing determines reparationB;
Described determine unit, be additionally operable to determineWhether more than zero; Wherein,Detection threshold for described combination observation;
Described processing unit, is additionally operable to determine that unit is determined describedDuring more than zero, the difference of the predictive value of the combined carriers observation of described current epoch Yu the measured value of the combined carriers observation of described current epoch is rounded, and the cycle slip value of each frequency is again resolved according to described detection matrix A and the cycle slip value that obtains after rounding, repair the cycle slip value of each frequency obtained after again resolving, and according to described detection matrix A and after repairing described in again resolve after the cycle slip value of each frequency that obtains determine the combination cycle slip value after again repairing, until the difference of the detection threshold of the absolute value of combination cycle slip value after again repairing described in determining and combination observation is less than or equal to zero.
9. the Detection of Cycle-slip prosthetic device of the BDS tri-frequency pseudorange phase combination according to any one of claim 6-8, it is characterised in that
Described acquiring unit, specifically for obtaining m the carrier observations without complete cycle saltus step; Wherein, described m is positive integer;
Described acquiring unit, specifically for adopting method of least square, and obtains polynomial-fitting function according to described m the carrier observations without complete cycle saltus stepWherein, described m the carrier observations without complete cycle saltus step is the value obtained before described current epoch, i=1,2 ... m, m > k+1, k be positive integer, a0,a1,��,akCoefficient for polynomial-fitting function;
Described determine unit, specifically for according to formulaDetermining the middle error of described polynomial-fitting function, wherein, �� is the middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations without complete cycle saltus step, and n is the exponent number of polynomial fitting.
10. the Detection of Cycle-slip prosthetic device of BDS tri-according to claim 6 frequency pseudorange phase combination, it is characterised in that described k is equal to 3.
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| CN105652298B CN105652298B (en) | 2018-05-11 |
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| CN106199659A (en) * | 2016-07-04 | 2016-12-07 | 武汉大学 | GNSS based on fuzzy mathematics mono-station Dual Frequency Observation data Detection of Cycle-slip and processing method |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN111142127A (en) * | 2018-11-02 | 2020-05-12 | 千寻位置网络有限公司 | Cycle slip detection method and device |
| CN114002719A (en) * | 2021-10-12 | 2022-02-01 | 广州市城市规划勘测设计研究院 | Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium |
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| CN103576167B (en) * | 2013-10-28 | 2015-09-23 | 中国科学院国家授时中心 | Based on the cycle-slip detection and repair method of HHT and support vector machine |
| CN104749594B (en) * | 2015-04-10 | 2017-03-08 | 武汉大学 | A kind of non-poor cycle-slip detection and repair method and device of GPS double frequency |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199659A (en) * | 2016-07-04 | 2016-12-07 | 武汉大学 | GNSS based on fuzzy mathematics mono-station Dual Frequency Observation data Detection of Cycle-slip and processing method |
| CN106199659B (en) * | 2016-07-04 | 2018-08-21 | 武汉大学 | The mono- station Dual Frequency Observation data Detection of Cycle-slip of GNSS based on fuzzy mathematics and processing method |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN111142127A (en) * | 2018-11-02 | 2020-05-12 | 千寻位置网络有限公司 | Cycle slip detection method and device |
| CN114002719A (en) * | 2021-10-12 | 2022-02-01 | 广州市城市规划勘测设计研究院 | Single-frequency dual-mode multi-antenna fusion RTK positioning method, device, equipment and medium |
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| CN105652298B (en) | 2018-05-11 |
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