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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- CN105652298B CN105652298B CN201610022531.XA CN201610022531A CN105652298B CN 105652298 B CN105652298 B CN 105652298B CN 201610022531 A CN201610022531 A CN 201610022531A CN 105652298 B CN105652298 B CN 105652298B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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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 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 present invention relates to technical field of satellite, more particularly to a kind of Detection of Cycle-slip of tri- frequency pseudorange phase combinations of BDS
Restorative procedure and device.
Background technology
Receiver during satellite-signal is received, due to barrier blocks, receiver failure and low signal-to-noise ratio etc. because
Element causes satellite-signal temporarily to interrupt, cause carrier phase observation data complete cycle count undergo mutation, and the part less than one week according to
So correctly phenomenon is known as cycle slip, and the presence of cycle slip has seriously affected carrier observations, therefore, in navigation and positioning in high precision
It must be eliminated.The problem of cycle slip definite is peculiar in carrier phase measurement, to obtain high-precision carrier observations,
Just need to determine cycle slip first, it is known that BDS ((lead by BeiDou Navigation Satellite System, Chinese big-dipper satellite
Boat system) carrier signals of three frequencies is broadcast, how to become the hot spot of research using the advantages detection cycle slips of three frequency combinations.
Although the Detection of Cycle-slip restorative procedure detection accuracy of tri- frequency pseudorange phase combinations of BDS of the prior art is high, pass through
Most of cycle slip can be detected by choosing suitable combination coefficient, but in the case of low sampling rate, since the sampling interval is big, be gone through
Star distance change of standing between member is big, and noise residual sum Ionosphere Residual Error influences to become larger so that cycle slip inspected number becomes larger, and causes to have week
Jump the situation for resolving mistake to occur, reduce the precision of detection and reparation for cycle slips.
The content of the invention
In view of this, the present invention provides a kind of the Detection of Cycle-slip restorative procedure and device of tri- frequency pseudorange phase combinations of BDS, uses
Occur in the situation for avoiding cycle slip from resolving mistake, improve the precision of detection and reparation for cycle slips.
The present invention is solved the above problems by following technological means：
The present invention provides a kind of Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS, including：Multinomial is obtained to intend
Close equation；The polynomial-fitting function is determined according to the residual error of the polynomial-fitting function and the polynomial-fitting function
Middle error, and determine according to the polynomial-fitting function predicted value of the combined carriers observation of current epoch；Determine institute
State the difference of the measured value of the predicted value of the combined carriers observation of current epoch and the combined carriers observation of the current epoch
Whether the absolute value of value is less than the middle error of k times of the polynomial-fitting function；Wherein, the k is positive integer；In definite institute
State institute of the absolute value more than k times of the carrier wave predicted value of current epoch and the difference of the combined carriers measured value of the current epoch
When stating the middle error of polynomial-fitting function, determine that cycle slip occurs for current epoch；The cycle slip value of each frequency point of current epoch is obtained, and
Repair the cycle slip value of each frequency point of current epoch.
Further, the cycle slip value for obtaining each frequency point of current epoch includes：According to equation
The cycle slip value of each frequency point of current epoch is resolved, obtains △ N=A-1*△n；Wherein, A is according to three frequency pseudorange phase combination coefficients
xi,yi,ziObtained detection matrix, i=1,2,3, △ N are the cycle slip value set of each frequency point, and △ n are three three of current epoch
The set of the cycle slip value of frequency pseudorange phase combination.
Further, after the cycle slip value of reparation each frequency point of current epoch, further include：According to it is described detection matrix A and
The cycle slip value of each frequency point of current epoch after reparation determines the combination cycle slip value △ N after repairingB；DetermineWhether
More than zero；Wherein,For the detection threshold of the combination observation；DeterminingDuring more than zero, by described in
The predicted value of the combined carriers observation of current epoch and the difference of the measured value of the combined carriers observation of the current epoch
Rounding, and the cycle slip value of each frequency point is resolved according to obtained cycle slip value after the detection matrix A and rounding again, reparation solves again
The cycle slip value of each frequency point obtained after calculation, and obtained after being resolved again according to after the detection matrix A and reparation each
The cycle slip value of frequency point determines the combination cycle slip value after repairing again, until determining the exhausted of the combination cycle slip value after the reparation again
It is less than or equal to zero with the difference of the detection threshold of combination observation to being worth.
Further, the acquisition polynomial-fitting function includes：Obtain the m carrier observations without complete cycle saltus step；Wherein,
The m is positive integer；Using least square method, and it is worth to multinomial according to the m carrier observations without complete cycle saltus step and intends
Close equationWherein, the m carrier waves without complete cycle saltus step are seen
The value that measured value obtains before for the current epoch, i=1,2 ... m, m>K+1, k are positive integer, a0,a1,…,akTo be more
The coefficient of item formula fit equation；Determined according to the residual error of the polynomial-fitting function and the polynomial-fitting function described more
The middle error of item formula fit equation includes：According to formulaDetermine the middle mistake of the polynomial-fitting function
Difference, wherein, σ be polynomial-fitting function middle error, ViFor the residual error of polynomial-fitting function, m for no complete cycle saltus step load
The number of ripple observation, n are the exponent number of polynomial fitting.
Further, the k is equal to 3.
The present invention provides a kind of Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS, including：Acquiring unit, is used
In acquisition polynomial-fitting function；Determination unit, for according to the polynomial-fitting function and the polynomial-fitting function
Residual error determine the middle error of the polynomial-fitting function, and the group of current epoch is determined according to the polynomial-fitting function
Close the predicted value of carrier observations；The determination unit, be additionally operable to determine the current epoch combined carriers observation it is pre-
Whether measured value and the absolute value of the difference of the measured value of the combined carriers observation of the current epoch are described multinomial less than k times
The middle error of formula fit equation；Wherein, the k is positive integer；The determination unit, is additionally operable to determining the current epoch
The absolute value of carrier wave predicted value and the difference of the combined carriers measured value of the current epoch is more than k times of the fitting of a polynomial
During the middle error of equation, determine that cycle slip occurs for current epoch；The acquiring unit, is additionally operable to obtain the week of each frequency point of current epoch
Jump value；Processing unit, for repairing the cycle slip value of each frequency point of current epoch.
Further, the acquiring unit, specifically for according to equationResolving is currently gone through
The cycle slip value of each frequency point of member, obtains △ N=A-1*△n；Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziObtain
Detection matrix, i=1,2,3, △ N be each frequency point cycle slip value set, △ n be current epoch three three frequency pseudorange phase-groups
The set of the cycle slip value of conjunction.
Further, the determination unit, is additionally operable to according to each frequency point of current epoch after the detection matrix A and reparation
Cycle slip value determines the combination cycle slip value △ N after repairingB；The determination unit, is additionally operable to determineWhether it is more than
Zero；Wherein,For the detection threshold of the combination observation；The processing unit, is additionally operable to determine in the determination unitDuring more than zero, by the predicted value of the combined carriers observation of the current epoch and the group of the current epoch
The difference rounding of the measured value of carrier observations is closed, and is solved again according to the cycle slip value obtained after the detection matrix A and rounding
The cycle slip value of each frequency point is calculated, repairs the cycle slip value of each frequency point obtained after resolving again, and according to the detection matrix A and reparation
The cycle slip value of each frequency point obtained after the resolving again afterwards determines the combination cycle slip value after repairing again, until determining described
The difference of the absolute value of combination cycle slip value after repairing again and the detection threshold of combination observation is less than or equal to zero.
Further, the acquiring unit, specifically for obtaining the m carrier observations without complete cycle saltus step；Wherein, the m
For positive integer；The acquiring unit, specifically for being seen using least square method, and according to the m carrier waves without complete cycle saltus step
Measured value obtains polynomial-fitting functionWherein, the m nothing
The value that the carrier observations of complete cycle saltus step obtain before for the current epoch, i=1,2 ... m, m>K+1, k are just whole
Number, a0,a1,…,akFor the coefficient of polynomial-fitting function；The determination unit, specifically for according to formulaDetermine the middle error of the polynomial-fitting function, wherein, σ is the middle error of polynomial-fitting function,
ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations of no complete cycle saltus step, and n is the exponent number of polynomial fitting.
Further, the k is equal to 3.
The Detection of Cycle-slip restorative procedure and device of tri- frequency pseudorange phase combinations of a kind of BDS provided by the invention, according to multinomial
Formula fit equation gets the predicted value of the combined carriers observation of current epoch, determine current epoch carrier wave predicted value with
During the middle error of polynomial-fitting function of the absolute value of the difference of the combined carriers measured value of the current epoch more than k times,
Determine that cycle slip occurs for current epoch, at this time, obtain the cycle slip value of each frequency point of current epoch, and repair the week of each frequency point of current epoch
Jump value, in this way, in the case of low sampling rate, can avoid the situation that cycle slip resolves mistake from occurring, improve Detection of Cycle-slip and repair
Multiple precision.
Brief description of the drawings
Fig. 1 is a kind of flow signal of the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS provided by the invention
Figure；
Fig. 2 is that the flow of the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of another kind BDS provided by the invention is shown
It is intended to；
Fig. 3 is a kind of function signal of the Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS provided by the invention
Figure.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment, belongs to the scope of protection of the invention.
It is a kind of flow of the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS provided by the invention referring to Fig. 1
Schematic diagram, includes the following steps：
101st, polynomial-fitting function is obtained.
Specifically, the step of obtaining polynomial-fitting function is as follows：
Obtain the m carrier observations without complete cycle saltus step；Wherein, the m is positive integer；
Polynomial-fitting function is worth to using least square method, and according to the m carrier observations without complete cycle saltus step
Wherein, the value that the m carrier observations without complete cycle saltus step obtain before for the current epoch, i=1,
2,......m,m>K+1, k are positive integer, a0,a1,…,akFor the coefficient of polynomial-fitting function.
It should be noted that when obtaining polynomial-fitting function, it is necessary to according to the actual requirements determine polynomial order k and
Window width m is fitted, if polynomial order k is too low, fitting precision is not high；If polynomial order k is too high, calculation amount is too big and causes
Deviation increases, so it is 3 or 4 that the present invention, which chooses k,；Further, since over time, the precision of fitting of a polynomial can be gradual
Decline, so usually choosing the fitting window slided predicts the carrier value of next epoch, that is, get rid of an initial part and observe
Value, adds the equivalent subsequently actual observed value without cycle slip, repeats above-mentioned fitting of a polynomial process, if fitting window width m is smaller,
Fitting precision is not high, and the value of extrapolation is inaccurate；If fitting window width m is larger, the value of extrapolation can be more accurate, but can increase calculating
Amount, the present invention are tested according to different width, and precision is adapted to when obtaining m=6~8.
102nd, determine that the multinomial is intended according to the residual error of the polynomial-fitting function and the polynomial-fitting function
The middle error of equation is closed, and determines according to the polynomial-fitting function predicted value of the combined carriers observation of current epoch.
Specifically, according to formulaDetermine the middle error of the polynomial-fitting function, wherein, σ is
The middle error of polynomial-fitting function, ViFor the residual error of polynomial-fitting function, m is a of the carrier observations of no complete cycle saltus step
Number, n are the exponent number of polynomial fitting.
103rd, the predicted value of the combined carriers observation of the current epoch and the combined carriers of the current epoch are determined
Whether the absolute value of the difference of the measured value of observation is less than the middle error of k times of the polynomial-fitting function.
Wherein, the k is positive integer.
Preferably, k is equal to 3.
It should be noted that according to the difference of definitive result, the step of following execution, is also different, is determining current epoch
In polynomial-fitting function of the absolute value of the difference of the combined carriers measured value of carrier wave predicted value and current epoch more than k times
During error, step 104 and step 105 are performed, it is real in the combined carriers for determining the carrier wave predicted value of current epoch and current epoch
During the middle error of polynomial-fitting function of the absolute value of the difference of measured value less than or equal to k times, it is believed that current epoch does not occur
Cycle slip, does not perform following either steps.
104th, in the carrier wave predicted value and the difference of the combined carriers measured value of the current epoch for determining the current epoch
During the middle error of the polynomial-fitting function of the absolute value of value more than k times, determine that cycle slip occurs for current epoch.
105th, 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.
Specifically, according to equationThe cycle slip value of each frequency point of current epoch is resolved, is obtained
△ N=A-1*△n。
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziObtained detection matrix, i=1,2,3, △ N are
The cycle slip value set of each frequency point, △ n are the set of the cycle slip value of three three frequency pseudorange phase combinations of current epoch.
Further as above-mentioned technical proposal is improved, as shown in Fig. 2, after above-mentioned steps 105 are performed, is further included：
106th, the combination after repairing is determined according to the cycle slip value of each frequency point of current epoch after the detection matrix A and reparation
Cycle slip value △ NB。
107th, determineWhether zero is more than.
Wherein,For the detection threshold of the combination observation,To combine the middle mistake of Detection of Cycle-slip detection limit
Difference.
Specifically,It is according to combination cycle slip value △ NBObtained with law of propagation of errors, specific formula is
In formula,Represent to do difference between epoch,Represent error in carrier wave, it is assumed here thatδρ
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 definite result, the step of following execution, is also different, is determiningDuring more than zero, step 108 is performed；DeterminingDuring less than or equal to zero, following steps are not performed
Suddenly.
108th, determiningDuring more than zero, by the predicted value of the combined carriers observation of the current epoch
With the difference rounding of the measured value of the combined carriers observation of the current epoch, and according to it is described detection matrix A and rounding after
Obtained cycle slip value resolves the cycle slip value of each frequency point again, repairs the cycle slip value of each frequency point obtained after resolving again, and according to
The cycle slip value of each frequency point obtained after the resolving again after the detection matrix A and reparation determines the combination after repairing again
Cycle slip value, until determining the difference of the absolute value of the combination cycle slip value after the reparation again and the detection threshold of combination observation
Less than or equal to zero.
The present invention provides a kind of Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS, according to fitting of a polynomial
Equation gets the predicted value of the combined carriers observation of current epoch, works as in the carrier wave predicted value for determining current epoch with described
During the middle error of polynomial-fitting function of the absolute value of the difference of the combined carriers measured value of preceding epoch more than k times, determine to work as
Cycle slip occurs for preceding epoch, at this time, obtains the cycle slip value of each frequency point of current epoch, and repairs the cycle slip value of each frequency point of current epoch,
In this way, in the case of low sampling rate, the situation that cycle slip resolves mistake can be avoided to occur, improve the essence of detection and reparation for cycle slips
Degree.Further, the present invention is verified the cycle slip value of each frequency point of current epoch after reparation, current epoch after reparation
When the cycle slip value of each frequency point is unsatisfactory for requiring, by the predicted value of combined carriers observation of current epoch and the combination of current epoch
The difference rounding of the measured value of carrier observations, and each frequency is resolved according to the cycle slip value obtained after detection matrix A and rounding again
The cycle slip value of point, repairs the cycle slip value of each frequency point obtained after resolving again, until meeting the requirements, further increases cycle slip spy
The precision surveyed and repaired.
The present invention provides a kind of Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS, as shown in figure 3, including：
Acquiring unit 301, determination unit 302 and processing unit 303.
The acquiring unit 301, for obtaining polynomial-fitting function.
The acquiring unit 301, specifically for obtaining the m carrier observations without complete cycle saltus step.
Wherein, the m is positive integer.
The acquiring unit 301, specifically for using least square method, and according to the m carrier waves without complete cycle saltus step
Observation is worth to polynomial-fitting function
Wherein, the value that the m carrier observations without complete cycle saltus step obtain before for the current epoch, i=1,
2,......m,m>K+1, k are positive integer, a0,a1,…,akFor the coefficient of polynomial-fitting function.
The determination unit 302, for the residual error according to the polynomial-fitting function and the polynomial-fitting function
Determine the middle error of the polynomial-fitting function, and the combined carriers of current epoch are determined according to the polynomial-fitting function
The predicted value of observation.
The determination unit 302, specifically for according to formulaDetermine the polynomial-fitting function
Middle error, wherein, σ be polynomial-fitting function middle error, ViFor the residual error of polynomial-fitting function, m jumps for no complete cycle
The number of the carrier observations of change, n are the exponent number of polynomial fitting.
The determination unit 302, be additionally operable to determine the current epoch combined carriers observation predicted value with it is described
Whether the absolute value of the difference of the measured value of the combined carriers observation of current epoch is less than k times of the polynomial-fitting function
Middle error.
Wherein, the k is positive integer.
Preferably, k is equal to 3.
The determination unit 302, is additionally operable to determining the carrier wave predicted value of the current epoch and the current epoch
During the middle error of the polynomial-fitting function of the absolute value of the difference of combined carriers measured value more than k times, determine currently to go through
Cycle slip occurs for member；
The acquiring unit 301, is additionally operable to obtain the cycle slip value of each frequency point of current epoch.
The acquiring unit 301, specifically for according to equationIt is each to resolve current epoch
The cycle slip value of frequency point, obtains △ N=A-1*△n。
Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziObtained detection matrix, i=1,2,3, △ N are
The cycle slip value set of each frequency point, △ n are the set of the cycle slip value of three three frequency pseudorange phase combinations of current epoch.
The processing unit 303, for repairing the cycle slip value of each frequency point of current epoch.
The present invention provides a kind of Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS, according to fitting of a polynomial
Equation gets the predicted value of the combined carriers observation of current epoch, works as in the carrier wave predicted value for determining current epoch with described
During the middle error of polynomial-fitting function of the absolute value of the difference of the combined carriers measured value of preceding epoch more than k times, determine to work as
Cycle slip occurs for preceding epoch, at this time, obtains the cycle slip value of each frequency point of current epoch, and repairs the cycle slip value of each frequency point of current epoch,
In this way, in the case of low sampling rate, the situation that cycle slip resolves mistake can be avoided to occur, improve the essence of detection and reparation for cycle slips
Degree.Further, the present invention is verified the cycle slip value of each frequency point of current epoch after reparation, current epoch after reparation
When the cycle slip value of each frequency point is unsatisfactory for requiring, by the predicted value of combined carriers observation of current epoch and the combination of current epoch
The difference rounding of the measured value of carrier observations, and each frequency is resolved according to the cycle slip value obtained after detection matrix A and rounding again
The cycle slip value of point, repairs the cycle slip value of each frequency point obtained after resolving again, until meeting the requirements, further increases cycle slip spy
The precision surveyed and repaired.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
- A kind of 1. Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS, it is characterised in that including：Obtain polynomial-fitting function；The polynomial-fitting function is determined according to the residual error of the polynomial-fitting function and the polynomial-fitting function Middle error, and determine according to the polynomial-fitting function predicted value of the combined carriers observation of current epoch；Determine the predicted value of the combined carriers observation of the current epoch and the combined carriers observation of the current epoch Whether the absolute value of the difference of measured value is less than the middle error of k times of the polynomial-fitting function；Wherein, the k is just whole Number；Determining the absolute of carrier wave predicted value and the difference of the combined carriers measured value of the current epoch of the current epoch During the middle error of the polynomial-fitting function of the value 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 acquisition polynomial-fitting function includes：Obtain the m carrier observations without complete cycle saltus step；Wherein, the m is positive integer；Polynomial-fitting function is worth to using least square method, and according to the m carrier observations without complete cycle saltus stepWherein, the m carrier observations without complete cycle saltus step are The value obtained before the current epoch, i=1,2 ... m, m>K+1, k are positive integer, a0,a1,…,akIntend for multinomial Close the coefficient of equation；The polynomial-fitting function is determined according to the residual error of the polynomial-fitting function and the polynomial-fitting function Middle error includes：According to formulaDetermine the middle error of the polynomial-fitting function, wherein, σ is fitting of a polynomial side The middle error of journey, ViFor the residual error of polynomial-fitting function, m is the number of the carrier observations of no complete cycle saltus step, and n is that fitting is more The exponent number of item formula.
- 2. the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS according to claim 1, it is characterised in that institute Stating the cycle slip value of acquisition each frequency point of current epoch includes：According to equationThe cycle slip value of each frequency point of current epoch is resolved, obtains Δ N=A-1*Δn；Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziObtained detection matrix, i=1,2,3, Δ N is each frequency The cycle slip value set of point, Δ n are the set of the cycle slip value of three three frequency pseudorange phase combinations of current epoch.
- 3. the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS according to claim 2, it is characterised in that After the cycle slip value for repairing each frequency point of current epoch, further include：Combination cycle slip value Δ after repairing is determined according to the cycle slip value of each frequency point of current epoch after the detection matrix A and reparation NB；DetermineWhether zero is more than；Wherein,For the detection threshold of combination observation；DeterminingDuring more than zero, by the predicted value of the combined carriers observation of the current epoch with it is described current The difference rounding of the measured value of the combined carriers observation of epoch, and according to the cycle slip obtained after the detection matrix A and rounding Value resolves the cycle slip value of each frequency point again, repairs the cycle slip value of each frequency point obtained after resolving again, and according to the detection square Battle array A and the cycle slip value of each frequency point obtained after the resolving again after reparation determine the combination cycle slip value after repairing again, directly The difference of the absolute value of combination cycle slip value after to the definite reparation again and the detection threshold of combination observation is less than or equal to Zero.
- 4. the Detection of Cycle-slip restorative procedure of tri- frequency pseudorange phase combinations of BDS according to claim 1, it is characterised in that institute K is stated equal to 3.
- A kind of 5. Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS, it is characterised in that including：Acquiring unit, for obtaining polynomial-fitting function；Determination unit, it is described multinomial for being determined according to the residual error of the polynomial-fitting function and the polynomial-fitting function The middle error of formula fit equation, and determine according to the polynomial-fitting function prediction of the combined carriers observation of current epoch Value；The determination unit, is additionally operable to determine the predicted value of the combined carriers observation of the current epoch and the current epoch Combined carriers observation measured value difference absolute value whether less than k times of the polynomial-fitting function middle mistake Difference；Wherein, the k is positive integer；The determination unit, is additionally operable in the carrier wave predicted value and the combined carriers of the current epoch for determining the current epoch During the middle error of the polynomial-fitting function of the absolute value of the difference of measured value more than k times, determine that week occurs for current epoch Jump；The acquiring unit, is additionally operable to obtain the cycle slip value of each frequency point of current epoch；Processing unit, for repairing the cycle slip value of each frequency point of current epoch；The acquiring unit, specifically for obtaining the m carrier observations without complete cycle saltus step；Wherein, the m is positive integer；The acquiring unit, specifically for being worth using least square method, and according to the m carrier observations without complete cycle saltus step To polynomial-fitting functionWherein, jumped without complete cycle for the m The value that the carrier observations of change obtain before into the current epoch, i=1,2 ... m, m>K+1, k are positive integer, a0, a1,…,akFor the coefficient of polynomial-fitting function；The determination unit, specifically for according to formulaDetermine the middle error of the polynomial-fitting function, Wherein, σ be polynomial-fitting function middle error, ViFor the residual error of polynomial-fitting function, m sees for the carrier wave of no complete cycle saltus step The number of measured value, n are the exponent number of polynomial fitting.
- 6. the Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS according to claim 5, it is characterised in thatThe acquiring unit, specifically for according to equationResolve the week of each frequency point of current epoch Jump value, obtains Δ N=A-1*Δn；Wherein, A is according to three frequency pseudorange phase combination coefficient xi,yi,ziObtained detection matrix, i=1,2,3, Δ N is each frequency The cycle slip value set of point, Δ n are the set of the cycle slip value of three three frequency pseudorange phase combinations of current epoch.
- 7. the Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS according to claim 6, it is characterised in thatThe determination unit, is additionally operable to be determined according to the cycle slip value of each frequency point of current epoch after the detection matrix A and reparation Combination cycle slip value Δ N after reparationB；The determination unit, is additionally operable to determineWhether zero is more than；Wherein,For the spy of the combination observation Survey threshold value；The processing unit, is additionally operable to determine in the determination unitDuring more than zero, by the current epoch The predicted value of combined carriers observation and the difference rounding of the measured value of the combined carriers observation of the current epoch, and according to The cycle slip value obtained after the detection matrix A and rounding resolves the cycle slip value of each frequency point again, repairs what is obtained after resolving again The cycle slip value of each frequency point, and the cycle slip of each frequency point obtained after being resolved again according to after the detection matrix A and reparation Combination cycle slip value after the definite reparation again of value, until determining the absolute value of the combination cycle slip value after the reparation again with combining The difference of the detection threshold of observation is less than or equal to zero.
- 8. the Detection of Cycle-slip prosthetic device of tri- frequency pseudorange phase combinations of BDS according to claim 5, it is characterised in that institute K is stated equal to 3.
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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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