CN105652298B - A kind of the Detection of Cycle-slip restorative procedure and device of tri- frequency pseudorange phase combinations of BDS - Google Patents
A kind of the Detection of Cycle-slip restorative procedure and device of tri- frequency pseudorange phase combinations of BDS Download PDFInfo
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- 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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Abstract
The invention discloses a kind of the Detection of Cycle-slip restorative procedure and device of tri- frequency pseudorange phase combinations of BDS, it is related to technical field of satellite, the described method includes：Obtain polynomial-fitting function；The middle error of polynomial-fitting function is determined according to the residual error of polynomial-fitting function and polynomial-fitting function, and determines according to polynomial-fitting function the predicted value of the combined carriers observation of current epoch；Determine whether the absolute value of the difference of the measured value of the predicted value of the combined carriers observation of current epoch and the combined carriers observation of current epoch is less than the middle error of k times of polynomial-fitting function；In the middle error for determining the polynomial-fitting function more than k times, determine that cycle slip occurs for current epoch；The cycle slip value of each frequency point of current epoch is obtained, and repairs the cycle slip value of each frequency point of current epoch.The situation for resolving mistake the invention avoids cycle slip occurs, and improves the precision of detection and reparation for cycle slips.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a cycle slip detection and repair method and device based on BDS three-frequency pseudo-range phase combination.
Background
In the process of receiving satellite signals, due to the fact that satellite signals are temporarily interrupted due to factors such as barrier shielding, receiver faults and low signal-to-noise ratio, the whole-cycle counting of a carrier phase observation value is suddenly changed, the phenomenon that the whole-cycle counting is still correct for a part less than one cycle is called cycle slip, the carrier phase observation value is seriously influenced by the cycle slip, and therefore the carrier phase observation value must be eliminated in high-precision navigation and positioning. The cycle slip determination is a specific problem in carrier phase measurement, and to obtain a high-precision carrier observation value, the cycle slip needs to be determined first, so that it is known how to detect the cycle slip by using the advantages of three-frequency combination as a hotspot of research, when BDS ((BeiDou Navigation Satellite System, china BeiDou Satellite Navigation System) broadcasts carrier signals of three frequencies.
Although the cycle slip detection and repair method of the BDS tri-frequency pseudo-range phase combination in the prior art is high in detection precision, most of cycle slips can be detected by selecting a proper combination coefficient, under the condition of low sampling rate, due to the fact that sampling intervals are large, station satellite distance changes among epochs are large, influence of noise residual errors and ionosphere residual errors is large, cycle slip detection amount is large, the condition of cycle slip resolving errors is caused, and cycle slip detection and repair precision is reduced.
Disclosure of Invention
In view of this, the invention provides a cycle slip detection and repair method and device based on a BDS three-frequency pseudorange phase combination, which are used for avoiding cycle slip resolving errors and improving cycle slip detection and repair accuracy.
The invention solves the problems through the following technical means:
the invention provides a cycle slip detection and repair method of a BDS three-frequency pseudo-range phase combination, which comprises the following steps: obtaining a polynomial fitting equation; determining a mean error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation, and determining a predicted value of a combined carrier observed value of a current epoch according to the polynomial fitting equation; determining whether an absolute value of a difference value between a predicted value of the combined carrier observation value of the current epoch and an actually measured value of the combined carrier observation value of the current epoch is less than k times of a median error of the polynomial fitting equation; wherein k is a positive integer; when the mean error of the polynomial fitting equation is determined, wherein the absolute value of the difference value between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times, determining that cycle slip occurs in the current epoch; and acquiring the cycle skip value of each frequency point of the current epoch, and repairing the cycle skip value of each frequency point of the current epoch.
Further, the acquiring the cycle slip value of each frequency point of the current epoch includes: according to the equationresolving cycle skip value of each frequency point of the current epoch to obtain △ N ═ A-1△ n, wherein A is a combined coefficient x according to three-frequency pseudo range phasei,yi,ziand obtaining a detection matrix, wherein i is 1,2 and 3, △ N is a cycle skip value set of each frequency point, and △ N is a cycle skip value set of three-frequency pseudo-range phase combinations of the current epoch.
further, after the cycle slip value of each frequency point of the current epoch is repaired, determining a repaired combined cycle slip value △ N according to the detection matrix A and the cycle slip value of each frequency point of the repaired current epochB(ii) a DeterminingWhether it is greater than zero; wherein,a detection threshold for the combined observation; in determiningWhen the difference value is larger than zero, rounding the difference value between the predicted value of the combined carrier wave observed value of the current epoch and the actually measured value of the combined carrier wave observed value of the current epoch, resolving the cycle slip value of each frequency point again according to the detection matrix A and the cycle slip value obtained after rounding, repairing the cycle slip value of each frequency point obtained after resolving again, and determining the cycle slip value of each frequency point obtained after resolving again according to the detection matrix A and the repaired cycle slip value of each frequency pointAnd the restored combined cycle slip value is obtained until the difference value between the absolute value of the restored combined cycle slip value and the detection threshold value of the combined observation value is determined to be less than or equal to zero.
Further, the obtaining a polynomial fit equation comprises: acquiring m carrier wave observed values without whole-cycle hopping; wherein m is a positive integer; obtaining a polynomial fitting equation according to the m carrier observed values without whole-cycle hopping by adopting a least square methodWherein the m carrier observations without cycle hopping are values obtained before the current epoch, i is 1,2>k +1, k is a positive integer, a0,a1,…,akFitting coefficients of an equation to a polynomial; determining the median error of the polynomial fit equation from the polynomial fit equation and the residuals of the polynomial fit equation comprises: according to the formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
Further, k is equal to 3.
The invention provides a cycle slip detection and repair device of a BDS three-frequency pseudo-range phase combination, which comprises: the acquiring unit is used for acquiring a polynomial fitting equation; the determining unit is used for determining a median error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation and determining a predicted value of a combined carrier observation value of a current epoch according to the polynomial fitting equation; the determining unit is further configured to determine whether an absolute value of a difference between a predicted value of the combined carrier observation of the current epoch and an actually measured value of the combined carrier observation of the current epoch is less than k times of a median error of the polynomial fitting equation; wherein k is a positive integer; the determining unit is further configured to determine that cycle slip occurs in the current epoch when a median error of the polynomial fitting equation is determined, where an absolute value of a difference between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times; the acquisition unit is also used for acquiring the cycle slip value of each frequency point of the current epoch; and the processing unit is used for repairing the cycle skip value of each frequency point of the current epoch.
Further, the obtaining unit is specifically configured to obtain the equationresolving cycle skip value of each frequency point of the current epoch to obtain △ N ═ A-1△ n, wherein A is a combined coefficient x according to three-frequency pseudo range phasei,yi,ziand obtaining a detection matrix, wherein i is 1,2 and 3, △ N is a cycle skip value set of each frequency point, and △ N is a cycle skip value set of three-frequency pseudo-range phase combinations of the current epoch.
further, the determining unit is further configured to determine a repaired combined cycle slip value △ N according to the detection matrix a and the cycle slip value of each frequency point of the repaired current epochB(ii) a The determination unit is also used for determiningWhether it is greater than zero; wherein,a detection threshold for the combined observation; the processing unit is also used for determining in the determination unitWhen the difference value is larger than zero, rounding the difference value between the predicted value of the combined carrier wave observed value of the current epoch and the actually measured value of the combined carrier wave observed value of the current epoch, resolving the cycle slip value of each frequency point again according to the detection matrix A and the cycle slip value obtained after rounding, repairing the cycle slip value of each frequency point obtained after resolving again, and obtaining the cycle slip value of each frequency point according to the detection momentAnd determining the repaired combined cycle slip value by the array A and the repaired cycle slip value of each frequency point obtained after re-resolving until the difference between the absolute value of the repaired combined cycle slip value and the detection threshold value of the combined observation value is less than or equal to zero.
Further, the obtaining unit is specifically configured to obtain m carrier observations without whole-cycle hopping; wherein m is a positive integer; the obtaining unit is specifically configured to obtain a polynomial fitting equation according to the m carrier observed values without whole-cycle hopping by using a least square methodWherein the m carrier observations without cycle hopping are values obtained before the current epoch, i is 1,2>k +1, k is a positive integer, a0,a1,…,akFitting coefficients of an equation to a polynomial; the determination unit is specifically configured to determine the value of the formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
Further, k is equal to 3.
According to the cycle slip detection and restoration method and device of the BDS three-frequency pseudo-range phase combination, the predicted value of the combined carrier observed value of the current epoch is obtained according to a polynomial fitting equation, when the error of the polynomial fitting equation that the absolute value of the difference between the predicted value of the carrier of the current epoch and the actually measured value of the combined carrier of the current epoch is larger than k times is determined, the cycle slip of the current epoch is determined, at the moment, the cycle slip value of each frequency point of the current epoch is obtained, and the cycle slip value of each frequency point of the current epoch is restored, so that the occurrence of cycle slip resolving errors can be avoided under the condition of low sampling rate, and the cycle slip detection and restoration precision is improved.
Drawings
Fig. 1 is a schematic flow chart of a cycle slip detection and repair method for BDS tri-frequency pseudorange phase combination according to the present invention;
fig. 2 is a schematic flow chart of another cycle slip detection and repair method for BDS tri-frequency pseudorange phase combination according to the present invention;
fig. 3 is a functional schematic diagram of a cycle slip detection and repair device of a BDS tri-frequency pseudorange phase combination provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, it is a schematic flow chart of a cycle slip detection and repair method for BDS tri-frequency pseudorange phase combination provided in the present invention, including the following steps:
101. a polynomial fit equation is obtained.
Specifically, the step of obtaining the polynomial fitting equation is as follows:
acquiring m carrier wave observed values without whole-cycle hopping; wherein m is a positive integer;
obtaining a polynomial fitting equation according to the m carrier observed values without whole-cycle hopping by adopting a least square method
Wherein the m carrier observations without cycle hopping are values obtained before the current epoch, i is 1,2>k +1, k is a positive integer, a0,a1,…,akThe coefficients of the equation are fitted to a polynomial.
It should be noted that, when acquiring a polynomial fitting equation, a polynomial order k and a fitting window width m need to be determined according to actual requirements, and if the polynomial order k is too low, the fitting accuracy is not high; if the polynomial order k is too high, the calculated amount is too large and the deviation is increased, so k is selected to be 3 or 4; in addition, as the accuracy of polynomial fitting gradually decreases with the passage of time, a sliding fitting window is usually selected to predict the carrier value of the next epoch, i.e. the initial part of observed values is removed, the equivalent subsequent actual observed value without cycle slip is added, the polynomial fitting process is repeated, if the fitting window width m is smaller, the fitting accuracy is not high, and the extrapolated value is not accurate; if the fitting window width m is larger, the extrapolated value is more accurate, but the calculation amount is increased, and the accuracy is suitable when m is 6-8 according to different width tests.
102. And determining a mean error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation, and determining a predicted value of a combined carrier observed value of the current epoch according to the polynomial fitting equation.
In particular, according to the formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
103. And determining whether the absolute value of the difference value between the predicted value of the combined carrier observation value of the current epoch and the measured value of the combined carrier observation value of the current epoch is less than k times of the median error of the polynomial fitting equation.
Wherein k is a positive integer.
Preferably, k is equal to 3.
It should be noted that, depending on the determination result, the following steps are performed, and when the median error of the polynomial fitting equation in which the absolute value of the difference between the carrier predicted value of the current epoch and the combined carrier measured value of the current epoch is greater than k times is determined, step 104 and step 105 are performed, and when the median error of the polynomial fitting equation in which the absolute value of the difference between the carrier predicted value of the current epoch and the combined carrier measured value of the current epoch is equal to or less than k times is determined, it is considered that cycle slip has not occurred in the current epoch, and none of the following steps is performed.
104. And when determining the medium error of the polynomial fitting equation of which the absolute value of the difference value between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times, determining that cycle slip occurs in the current epoch.
105. And acquiring the cycle skip value of each frequency point of the current epoch, and repairing the cycle skip value of each frequency point of the current epoch.
In particular, according to the equationresolving cycle skip value of each frequency point of the current epoch to obtain △ N ═ A-1*△n。
Wherein, A is a combined coefficient x according to three-frequency pseudo-range phasei,yi,ziand obtaining a detection matrix, wherein i is 1,2 and 3, △ N is a cycle skip value set of each frequency point, and △ N is a cycle skip value set of three-frequency pseudo-range phase combinations of the current epoch.
As a further improvement of the above technical solution, as shown in fig. 2, after the step 105 is executed, the method further includes:
106. according to the detection matrix A and each frequency point of the current epoch after restorationdetermining the repaired combined cycle slip value delta NB。
107. DeterminingWhether greater than zero.
Wherein,is a detection threshold for the combined observation,the mean error of the detected quantity is detected for the combined cycle slip.
In particular, the method comprises the following steps of,is based on the combined cycle slip value △ NBAnd the error propagation law is obtained by the following specific formula
In the formula, the first step is that,indicating that a difference is made between the epochs,indicating errors in the carrier, it is assumed hereδρRepresenting errors in pseudorange, ai,bi,ci、ui,vi,wi(i ═ 1,2, and 3) indicate a carrier combination coefficient and a pseudo range combination coefficient, respectively.
It should be noted that, depending on the result of the determination, the following steps are performed differently, and the determination is performed in this caseIf greater than zero, go to step 108; in determiningWhen the value is zero or less, the following steps are not executed.
108. In determiningAnd when the difference value is larger than zero, rounding up the difference value between the predicted value of the combined carrier observation value of the current epoch and the actually measured value of the combined carrier observation value of the current epoch, resolving the cycle slip value of each frequency point again according to the detection matrix A and the cycle slip value obtained after rounding up, restoring the cycle slip value of each frequency point obtained after resolving again, determining the combined cycle slip value after restoring again according to the detection matrix A and the cycle slip value of each frequency point obtained after resolving again after restoring until the difference value between the absolute value of the combined cycle slip value after restoring again and the detection threshold value of the combined observation value is determined to be smaller than or equal to zero.
The invention provides a cycle slip detection and restoration method of a BDS (brain-based data System) tri-frequency pseudo-range phase combination, which is characterized in that a predicted value of a combined carrier observed value of a current epoch is obtained according to a polynomial fitting equation, the cycle slip of the current epoch is determined when a medium error of the polynomial fitting equation that the absolute value of the difference between the predicted value of the carrier of the current epoch and the actually measured value of the combined carrier of the current epoch is greater than k times, at the moment, the cycle slip value of each frequency point of the current epoch is obtained, and the cycle slip value of each frequency point of the current epoch is restored, so that the occurrence of cycle slip resolving errors can be avoided under the condition of low sampling rate, and the precision of cycle slip detection and restoration is improved. Furthermore, the cycle slip value of each frequency point of the repaired current epoch is verified, when the cycle slip value of each frequency point of the repaired current epoch does not meet the requirement, the difference value between the predicted value of the combined carrier observation value of the current epoch and the measured value of the combined carrier observation value of the current epoch is rounded, the cycle slip value of each frequency point is solved again according to the detection matrix A and the rounded cycle slip value, the cycle slip value of each frequency point obtained after the calculation is repaired again until the requirement is met, and the cycle slip detection and repair precision is further improved.
The invention provides a cycle slip detection and repair device of BDS three-frequency pseudo-range phase combination, as shown in figure 3, comprising: an acquisition unit 301, a determination unit 302, and a processing unit 303.
The obtaining unit 301 is configured to obtain a polynomial fitting equation.
The obtaining unit 301 is specifically configured to obtain m carrier observations without whole-cycle hopping.
Wherein m is a positive integer.
The obtaining unit 301 is specifically configured to obtain a polynomial fitting equation according to the m carrier observations without whole-cycle hopping by using a least square method
Wherein the m carrier observations without cycle hopping are values obtained before the current epoch, i is 1,2>k +1, k is a positive integer, a0,a1,…,akThe coefficients of the equation are fitted to a polynomial.
The determining unit 302 is configured to determine a median error of the polynomial fitting equation according to the polynomial fitting equation and a residual of the polynomial fitting equation, and determine a predicted value of a combined carrier observation of a current epoch according to the polynomial fitting equation.
The determining unit 302 is specifically configured to determine according to a formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
The determining unit 302 is further configured to determine whether an absolute value of a difference between a predicted value of the combined carrier observation of the current epoch and an actually measured value of the combined carrier observation of the current epoch is less than k times of a median error of the polynomial fitting equation.
Wherein k is a positive integer.
Preferably, k is equal to 3.
The determining unit 302 is further configured to determine that cycle slip occurs in the current epoch when determining a median error of the polynomial fitting equation, where an absolute value of a difference between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times;
the obtaining unit 301 is further configured to obtain a cycle slip value of each frequency point of the current epoch.
The obtaining unit 301 is specifically configured to obtain the data according to the equationresolving cycle skip value of each frequency point of the current epoch to obtain △ N ═ A-1*△n。
Wherein, A is a combined coefficient x according to three-frequency pseudo-range phasei,yi,ziand obtaining a detection matrix, wherein i is 1,2 and 3, △ N is a cycle skip value set of each frequency point, and △ N is a cycle skip value set of three-frequency pseudo-range phase combinations of the current epoch.
The processing unit 303 is configured to repair a cycle skip value of each frequency point of the current epoch.
The invention provides a cycle slip detection and restoration device for BDS (brain-based distributed system) tri-frequency pseudo-range phase combination, which is characterized in that a predicted value of a combined carrier observed value of a current epoch is obtained according to a polynomial fitting equation, the cycle slip of the current epoch is determined when a medium error of the polynomial fitting equation that the absolute value of the difference between the predicted value of the carrier of the current epoch and the actually measured value of the combined carrier of the current epoch is greater than k times, at the moment, the cycle slip value of each frequency point of the current epoch is obtained, and the cycle slip value of each frequency point of the current epoch is restored, so that the occurrence of cycle slip resolving errors can be avoided under the condition of low sampling rate, and the precision of cycle slip detection and restoration is improved. Furthermore, the cycle slip value of each frequency point of the repaired current epoch is verified, when the cycle slip value of each frequency point of the repaired current epoch does not meet the requirement, the difference value between the predicted value of the combined carrier observation value of the current epoch and the measured value of the combined carrier observation value of the current epoch is rounded, the cycle slip value of each frequency point is solved again according to the detection matrix A and the rounded cycle slip value, the cycle slip value of each frequency point obtained after the calculation is repaired again until the requirement is met, and the cycle slip detection and repair precision is further improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A cycle slip detection repair method of a BDS three-frequency pseudo-range phase combination is characterized by comprising the following steps:
obtaining a polynomial fitting equation;
determining a mean error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation, and determining a predicted value of a combined carrier observed value of a current epoch according to the polynomial fitting equation;
determining whether an absolute value of a difference value between a predicted value of the combined carrier observation value of the current epoch and an actually measured value of the combined carrier observation value of the current epoch is less than k times of a median error of the polynomial fitting equation; wherein k is a positive integer;
when the mean error of the polynomial fitting equation is determined, wherein the absolute value of the difference value between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times, determining that cycle slip occurs in the current epoch;
acquiring the cycle skip value of each frequency point of the current epoch, and repairing the cycle skip value of each frequency point of the current epoch;
the obtaining a polynomial fit equation comprises:
acquiring m carrier wave observed values without whole-cycle hopping; wherein m is a positive integer;
obtaining a polynomial fitting equation according to the m carrier observed values without whole-cycle hopping by adopting a least square methodWherein the m carrier observations without cycle hopping are values obtained before the current epoch, i is 1,2>k +1, k is a positive integer, a0,a1,…,akFitting coefficients of an equation to a polynomial;
determining the median error of the polynomial fit equation from the polynomial fit equation and the residuals of the polynomial fit equation comprises:
according to the formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
2. The method for cycle slip detection and repair of a BDS tri-frequency pseudorange phase combination according to claim 1, wherein the obtaining of the cycle slip value of each frequency point of the current epoch includes:
according to the equationResolving cycle skip value of each frequency point of the current epoch to obtain delta N ═ A-1*Δn；
Wherein, A is a combined coefficient x according to three-frequency pseudo-range phasei,yi,ziAnd obtaining a detection matrix, wherein i is 1,2 and 3, Δ N is a cycle slip value set of each frequency point, and Δ N is a cycle slip value set of three-frequency pseudo-range phase combinations of the current epoch.
3. The cycle slip detection and repair method of the BDS tri-frequency pseudorange phase combination according to claim 2, wherein after the cycle slip values of the frequency points of the current epoch are repaired, the method further comprises:
determining a repaired combined cycle slip value delta N according to the detection matrix A and the cycle slip value of each frequency point of the repaired current epochB；
DeterminingWhether it is greater than zero; wherein,a detection threshold that is a combined observation;
in determiningAnd when the difference value is larger than zero, rounding up the difference value between the predicted value of the combined carrier observation value of the current epoch and the actually measured value of the combined carrier observation value of the current epoch, resolving the cycle slip value of each frequency point again according to the detection matrix A and the cycle slip value obtained after rounding up, restoring the cycle slip value of each frequency point obtained after resolving again, determining the combined cycle slip value after restoring again according to the detection matrix A and the cycle slip value of each frequency point obtained after resolving again after restoring until the difference value between the absolute value of the combined cycle slip value after restoring again and the detection threshold value of the combined observation value is determined to be smaller than or equal to zero.
4. The BDS tri-frequency pseudorange phase combined cycle slip detection repair method of claim 1, wherein k is equal to 3.
5. A cycle slip detection and repair device for BDS three-frequency pseudo-range phase combination is characterized by comprising:
the acquiring unit is used for acquiring a polynomial fitting equation;
the determining unit is used for determining a median error of the polynomial fitting equation according to the polynomial fitting equation and a residual error of the polynomial fitting equation and determining a predicted value of a combined carrier observation value of a current epoch according to the polynomial fitting equation;
the determining unit is further configured to determine whether an absolute value of a difference between a predicted value of the combined carrier observation of the current epoch and an actually measured value of the combined carrier observation of the current epoch is less than k times of a median error of the polynomial fitting equation; wherein k is a positive integer;
the determining unit is further configured to determine that cycle slip occurs in the current epoch when a median error of the polynomial fitting equation is determined, where an absolute value of a difference between the predicted carrier value of the current epoch and the measured combined carrier value of the current epoch is greater than k times;
the acquisition unit is also used for acquiring the cycle slip value of each frequency point of the current epoch;
the processing unit is used for repairing the cycle skip value of each frequency point of the current epoch;
the acquiring unit is specifically configured to acquire m carrier observations without whole-cycle hopping; wherein m is a positive integer;
the obtaining unit is specifically configured to obtain a polynomial fitting equation according to the m carrier observed values without whole-cycle hopping by using a least square methodWherein the m carrier observations without whole-cycle hopping are values obtained before the current epoch，i＝1,2,......m,m>k +1, k is a positive integer, a0,a1,…,akFitting coefficients of an equation to a polynomial;
the determination unit is specifically configured to determine the value of the formulaDetermining a median error of the polynomial fit equation, where σ is the median error of the polynomial fit equation, ViAnd fitting residual errors of the equation for the polynomial, wherein m is the number of carrier observed values without cycle jump, and n is the order of the fitting polynomial.
6. The BDS tri-frequency pseudorange phase combined cycle slip detection repair device of claim 5,
the acquisition unit is specifically configured to obtain the equationResolving cycle skip value of each frequency point of the current epoch to obtain delta N ═ A-1*Δn；
Wherein, A is a combined coefficient x according to three-frequency pseudo-range phasei,yi,ziAnd obtaining a detection matrix, wherein i is 1,2 and 3, Δ N is a cycle slip value set of each frequency point, and Δ N is a cycle slip value set of three-frequency pseudo-range phase combinations of the current epoch.
7. The BDS tri-frequency pseudorange phase combined cycle slip detection repair device of claim 6,
the determining unit is further configured to determine a repaired combined cycle slip value Δ N according to the detection matrix a and the cycle slip value of each frequency point of the repaired current epochB；
The determination unit is also used for determiningWhether it is greater than zero; wherein,a detection threshold for the combined observation;
the processing unit is also used for determining in the determination unitAnd when the difference value is larger than zero, rounding up the difference value between the predicted value of the combined carrier observation value of the current epoch and the actually measured value of the combined carrier observation value of the current epoch, resolving the cycle slip value of each frequency point again according to the detection matrix A and the cycle slip value obtained after rounding up, restoring the cycle slip value of each frequency point obtained after resolving again, determining the combined cycle slip value after restoring again according to the detection matrix A and the cycle slip value of each frequency point obtained after resolving again after restoring until the difference value between the absolute value of the combined cycle slip value after restoring again and the detection threshold value of the combined observation value is determined to be smaller than or equal to zero.
8. The BDS tri-frequency pseudorange phase combined cycle slip detection repair device of claim 5, wherein k is equal to 3.
Priority Applications (1)
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| CN109444935B (en) * | 2018-10-17 | 2022-10-21 | 桂林电子科技大学 | Doppler cycle slip detection and restoration method with low sampling rate |
| CN111142127B (en) * | 2018-11-02 | 2023-04-21 | 千寻位置网络有限公司 | Cycle slip detection method and device thereof |
| CN114002719B (en) * | 2021-10-12 | 2022-05-03 | 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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