CN105676243A - Non-geometric phase and ionosphere residual method-based Beidou three-frequency cycle-slip detection method - Google Patents

Abstract

The invention relates to a non-geometric phase and ionosphere residual method-based Beidou three-frequency cycle-slip detection method and belongs to the field of Beidou navigation positioning data pre-processing. The method comprises the following steps of firstly, respectively acquiring the carrier phase observation values phi1, phi2 and phi3 of a Beidou satellite at the frequency bands B1, B2 and B3; secondly, constructing three combined cycle-slip detection observables for the carrier phase observation values phi1, phi2 and phi3 according to the non-geometric phase method, and constructing one combined cycle-slip detection observables for the carrier phase observation values phi1, phi2 and phi3 according to the ionosphere residual method; finally, detecting the cycle-clip phenomenon of the three combined cycle-slip detection observables. According to the technical scheme of the invention, whether the cycle-clip phenomenon occurs in carrier phase observation values during the three frequency bands B1, B2 and B3 of the Beidou or not can be judged only based on the amplitude change of three combined cycle-slip detection observables. In addition, the method is free of any non-sensitive cycle-slip phenomenon and is capable of effectively detecting the cycle-slip phenomenon shorter than 5 seconds at any frequency in the three combined cycle-slip detection observables of the Beidou.

Description

A kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method

Technical field

The present invention relates to a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, belong to Beidou navigation positioning data preprocessing technical field.

Background technology

" Big Dipper " system moves towards perfect just gradually, comprehensive structure has 5 geostationary orbit satellites and 30 native to this world satellites after completing, location and navigation, the time service service of high precision can be provided, it is applied in mapping, intelligent transportation, Mechanical course, commercial measurement etc. at present. Along with the Big Dipper (BDS) is gradually ripe, the accuracy requirement of navigation location is more strict. Cycle slip is the very important factor affecting positioning precision. The detecting and repairing of cycle slip is one of committed step of Beidou navigation location. Detecting and repairing cycle slip effectively, ensures " totally " of observed data and accurately locates, and is the meaning and value place of navigation positioning system research. And the concern that multi-frequency combination location technology and applied research are got more and more. The sharpest edges of multi-frequency data are the abilities that a creation more excellent characteristic combines, and can be used in the control of the qualities of data such as the detecting and repairing of cycle slip. The cycle-slip detection and repair of the Big Dipper three frequency observed data is the focus studied by present stage. Under three frequently situation, combination observation measurer has the features such as wavelength is longer, noise is less, ionosphere effect is less, can effectively improve cycle slip detection accuracy.

At present, pseudorange phase place method, owing to being subject to pseudorange observation noise and the impact of carrier phase observation noise, is only applicable to the detection of big cycle slip (more than 10 weeks). The combination cycle slip inspected number that pseudorange phase place method constructs simultaneously is subject to the impact of sampling rate, when the sampling period is lower, and cannot correct detection cycle slip.

Summary of the invention

The present invention provides a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, is difficult to detection problem for overcoming little cycle slip.

The technical scheme of the present invention is: a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, obtains the carrier phase observation data φ of T Big Dipper B1, B2, B3 frequency range first respectively₁、φ₂、φ₃;Then adopt without geometric phase method carrier phase observation data φ₁、φ₂、φ₃Construct 3 combination cycle slip inspecteds number, adopt Ionosphere Residual Error method to carrier phase observation data φ₁、φ₂、φ₃It is configured to 1 combination cycle slip inspected number; Finally 3 are combined the detection that cycle slip inspected number carries out cycle slip.

The concrete steps of described method are as follows:

Step1, the carrier phase observation data φ obtaining T Big Dipper B1, B2, B3 frequency range respectively₁、φ₂、φ₃;

Step2, according to formula (1) to carrier phase observation data φ₁、φ₂、φ₃Carry out without geometry phase formation, obtain without geometry phase combination observed quantityFormula (1) is poor in intercropping epoch, obtain cycle slip inspected number

$L_{\∂\mathrm{\β}\mathrm{\γ}}=\∂{\mathrm{\λ}}_1{\mathrm{\φ}}_1+{\mathrm{\β\λ}}_2{\mathrm{\φ}}_2+{\mathrm{\γ\λ}}_3{\mathrm{\φ}}_3=-N_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·d/{\mathrm{\λ}}_1+{\mathrm{\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(1\right)$

${\mathrm{\ΔN}}_{\∂\mathrm{\β}\mathrm{\γ}}=-{\mathrm{\ΔL}}_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·\mathrm{\Δ}d/{\mathrm{\λ}}_1+{\mathrm{\Δ\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(2\right)$

Choose two groups without geometry phase combination coefficient form without geometry phase combination cycle slip inspected number as first, second combine cycle slip inspected number;

According to formula (3) to obtain carrier phase observation data φ₁、φ₂、φ₃Carry out the 3rd combination cycle slip inspected number, i.e. Ionosphere Residual Error combination cycle slip inspected number Δ Φ₂₃Structure;

$\begin{array}{c}{\mathrm{\Δ\Φ}}_{23}={\mathrm{\φ}}_2(t+1)-{\mathrm{\φ}}_2\left(t\right)-\frac{f_2}{f_3}\[{\mathrm{\φ}}_3\left(t+1\right)-{\mathrm{\φ}}_3\left(t\right)\]\\ ={{\mathrm{\Δ}}^{23}}_{ion}\left(t+1\right)-{{\mathrm{\Δ}}^{23}}_{ion}\left(t\right)+d\end{array}---\left(3\right)$

In formula:It is without geometry phase combination observed quantity,For the variable quantity without geometry phase combination observed quantity;β, γ are without geometry phase combination coefficient; φ₁,φ₂,φ₃It is respectively the carrier phase observation data of B1, B2, B3 tri-frequency ranges; λ₁,λ₂,λ₃It is respectively the carrier wavelength of B1, B2, B3 tri-frequency ranges;It it is combination integer ambiguity;It it is ionosphere delay scale-up factor;It is combination observation noise,It it is the variable quantity of combination observation noise; D is ionosphere delay, and Δ d is the variable quantity of ionosphere delay; φ₂(t)、φ₃At the carrier phase observation data of B2, B3 frequency range when () is respectively t epoch t; f₂、f₃It is respectively the carrier frequency of Big Dipper B2, B3 frequency range;For Ionosphere Residual Error during t epoch;

Step3, according to formula (4), at three frequently carrier phase observation data φ₁、φ₂、φ₃T any epoch add cycle slip, obtain φ₁'、φ₂'、φ₃'; According to the φ obtained₁'、φ₂'、φ₃', integrating step Step1, Step2 obtain the combination cycle slip inspected number of first, second, third after adding cycle slip; Whether change according to first, second, third amplitude combining cycle slip inspected number and judge φ respectively₁'、φ₂'、φ₃' in whether there occurs cycle slip: if amplitude change, then there occurs cycle slip, the position corresponding according to amplitude change can determine that cycle slip occurs epoch t and the cycle slip value at t epoch place;

φ_i'=φ_i+ Δ ni=1,2,3; (4)

In formula: Δ n is epoch 1 ..., the cycle slip size that epoch adds between T, T is the Big Dipper number chosen and the carrier phase observation data number representing single frequency range.

The principle of work of the present invention is: if there is not cycle slip in the Big Dipper three frequency carrier phase observation data, then utilize 3 the combination cycle slip inspecteds number constructed without geometric phase method and Ionosphere Residual Error method to show as random error characteristics; As any frequency range carrier phase observation data φ in three frequency range B1, B2, B3₁、φ₂、φ₃During middle generation cycle slip, 3 combination cycle slip inspected number Δ N_0,1,-1、ΔN_1,-1,0With Δ Φ₂₃In have at least the amplitude of that respective change can occur; In addition, adopt simultaneously and detect cycle slip without geometric phase method and Ionosphere Residual Error method tectonic association cycle slip inspected number, there is not insensitive cycle slip, it is possible to detect in the Big Dipper three frequency ranges the cycle slip occurred in any carrier phase observation data.

The invention has the beneficial effects as follows: only need to change in the carrier phase observation data that just can judge Big Dipper B1, B2, B3 frequency range whether there occurs cycle slip according to the amplitude that 3 are combined cycle slip inspected number; In addition, there is not insensitive cycle slip in the present invention, it is possible to the cycle slip that effectively in detection below the 5s Big Dipper three frequency carrier phase observation data, arbitrary frequency occurs.

Accompanying drawing explanation

Fig. 1 is the schema of the present invention;

Cycle slip inspected number Δ N is combined when Fig. 2 is the 1s sampling period do not add cycle slip_0,1,-1Display figure;

Cycle slip inspected number Δ N is combined when Fig. 3 is the 1s sampling period do not add cycle slip_1,-1,0Display figure;

Cycle slip inspected number Δ Φ is combined when Fig. 4 is the 1s sampling period do not add cycle slip₂₃Display figure;

Cycle slip inspected number Δ N is combined when Fig. 5 is the 5s sampling period do not add cycle slip_0,1,-1Display figure;

Cycle slip inspected number Δ N is combined when Fig. 6 is the 5s sampling period do not add cycle slip_1,-1,0Display figure;

Cycle slip inspected number Δ Φ is combined when Fig. 7 is the 5s sampling period do not add cycle slip₂₃Display figure;

At three carrier phase observation data φ frequently when Fig. 8 is 1s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ N_0,1,-1Variation diagram;

At three carrier phase observation data φ frequently when Fig. 9 is 1s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ N_1,-1,0Variation diagram;

At three carrier phase observation data φ frequently when Figure 10 is 1s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ Φ₂₃Variation diagram;

At three carrier phase observation data φ frequently when Figure 11 is 5s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ N_0,1,-1Variation diagram;

At three carrier phase observation data φ frequently when Figure 12 is 5s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ N_1,-1,0Variation diagram;

At three carrier phase observation data φ frequently when Figure 13 is 5s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) and cause combination cycle slip inspected number Δ Φ₂₃Variation diagram.

Embodiment

Embodiment 1: as shown in figures 1-13, a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, obtain the carrier phase observation data φ of T Big Dipper B1, B2, B3 frequency range first respectively₁、φ₂、φ₃; Then adopt without geometric phase method carrier phase observation data φ₁、φ₂、φ₃Construct 3 combination cycle slip inspecteds number, adopt Ionosphere Residual Error method to carrier phase observation data φ₁、φ₂、φ₃It is configured to 1 combination cycle slip inspected number; Finally 3 are combined the detection that cycle slip inspected number carries out cycle slip.

The concrete steps of described method are as follows:

Step1, the carrier phase observation data φ obtaining T Big Dipper B1, B2, B3 frequency range respectively₁、φ₂、φ₃;

Step2, according to formula (1) to carrier phase observation data φ₁、φ₂、φ₃Carry out without geometry phase formation, obtain without geometry phase combination observed quantityFormula (1) is poor in intercropping epoch, obtain cycle slip inspected number

$L_{\∂\mathrm{\β}\mathrm{\γ}}=\∂{\mathrm{\λ}}_1{\mathrm{\φ}}_1+{\mathrm{\β\λ}}_2{\mathrm{\φ}}_2+{\mathrm{\γ\λ}}_3{\mathrm{\φ}}_3=-N_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·d/{\mathrm{\λ}}_1+{\mathrm{\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(1\right)$

${\mathrm{\ΔN}}_{\∂\mathrm{\β}\mathrm{\γ}}=-{\mathrm{\ΔL}}_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·\mathrm{\Δ}d/{\mathrm{\λ}}_1+{\mathrm{\Δ\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(2\right)$

Choose two groups without geometry phase combination coefficient form without geometry phase combination cycle slip inspected number as first, second combine cycle slip inspected number;

According to formula (3) to obtain carrier phase observation data φ₁、φ₂、φ₃Carry out the 3rd combination cycle slip inspected number, i.e. Ionosphere Residual Error combination cycle slip inspected number Δ Φ₂₃Structure;

$\begin{array}{c}{\mathrm{\Δ\Φ}}_{23}={\mathrm{\φ}}_2(t+1)-{\mathrm{\φ}}_2\left(t\right)-\frac{f_2}{f_3}\[{\mathrm{\φ}}_3\left(t+1\right)-{\mathrm{\φ}}_3\left(t\right)\]\\ ={{\mathrm{\Δ}}^{23}}_{ion}\left(t+1\right)-{{\mathrm{\Δ}}^{23}}_{ion}\left(t\right)+d\end{array}---\left(3\right)$

In formula:It is without geometry phase combination observed quantity,For the variable quantity without geometry phase combination observed quantity;β, γ are without geometry phase combination coefficient; φ₁,φ₂,φ₃It is respectively the carrier phase observation data of B1, B2, B3 tri-frequency ranges; λ₁,λ₂,λ₃It is respectively the carrier wavelength of B1, B2, B3 tri-frequency ranges;It it is combination integer ambiguity;It it is ionosphere delay scale-up factor;It is combination observation noise,It it is the variable quantity of combination observation noise; D is ionosphere delay, and Δ d is the variable quantity of ionosphere delay;φ₂(t)、φ₃At the carrier phase observation data of B2, B3 frequency range when () is respectively t epoch t; f₂、f₃It is respectively the carrier frequency of Big Dipper B2, B3 frequency range;For Ionosphere Residual Error during t epoch;

Step3, according to formula (4), at three frequently carrier phase observation data φ₁、φ₂、φ₃T any epoch add cycle slip, obtain φ₁'、φ₂'、φ₃'; According to the φ obtained₁'、φ₂'、φ₃', integrating step Step1, Step2 obtain the combination cycle slip inspected number of first, second, third after adding cycle slip; Whether change according to first, second, third amplitude combining cycle slip inspected number and judge φ respectively₁'、φ₂'、φ₃' in whether there occurs cycle slip: if amplitude change, then there occurs cycle slip, the position corresponding according to amplitude change can determine that cycle slip occurs epoch t and the cycle slip value at t epoch place;

φ_i'=φ_i+ Δ ni=1,2,3; (4)

In formula: Δ n is epoch 1 ..., the cycle slip size that epoch adds between T, T is the Big Dipper number chosen and the carrier phase observation data number representing single frequency range.

Embodiment 2: as shown in figures 1-13, a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, obtain the carrier phase observation data φ of T Big Dipper B1, B2, B3 frequency range first respectively₁、φ₂、φ₃; Then adopt without geometric phase method carrier phase observation data φ₁、φ₂、φ₃Construct 3 combination cycle slip inspecteds number, adopt Ionosphere Residual Error method to carrier phase observation data φ₁、φ₂、φ₃It is configured to 1 combination cycle slip inspected number; Finally 3 are combined the detection that cycle slip inspected number carries out cycle slip.

Embodiment 3: as shown in figures 1-13, a kind of based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, obtain the carrier phase observation data φ of T Big Dipper B1, B2, B3 frequency range first respectively₁、φ₂、φ₃; Then adopt without geometric phase method carrier phase observation data φ₁、φ₂、φ₃Construct 3 combination cycle slip inspecteds number, adopt Ionosphere Residual Error method to carrier phase observation data φ₁、φ₂、φ₃It is configured to 1 combination cycle slip inspected number; Finally 3 are combined the detection that cycle slip inspected number carries out cycle slip.

Specific experiment is as follows:

Step 1, opening the double star five frequently test case " 502449091t.13O " from the navigation of Shanghai compass in ancient China with UltraEdit software, its sample frequency is 1Hz, and during observation, length is 2h. Select the carrier phase observation data φ that the sampling period is front 300 Big Dipper (COMPASS, C01) B1, B2, B3 frequency ranges of 1s, 5s respectively₁、φ₂、φ₃As test case;

Step 2,300 Big Dippeves three that the sampling period of acquisition is respectively 1s, 5s carrier phase observation data φ frequently₁、φ₂、φ₃Test case is put in 2 Excel tables, and front 3 row in each Excel table are corresponding three frequency carrier phase observation data φ respectively₁、φ₂、φ₃. Respectively taking " 1s.xls ", " 5s.xls " as filename name;

Step 3, to the frequently carrier phase observation data φ of three in each Excel table₁、φ₂、φ₃, according to formula (1), (2), obtain cycle slip inspected numberWherein, λ₁=0.192 meter, λ₂=0.248 meter, λ₃=0.236 meter, and choose without geometry phase combination coefficientWithConstruct 2 without geometry phase combination cycle slip inspected number Δ N_0,1,-1With Δ N_1,-1,0, then construct Ionosphere Residual Error combination cycle slip inspected number Δ Φ according to formula (3)₂₃Cycle slip inspected number is combined as the 3rd. Sampling period be respectively 1s, 5s structure 3 combination cycle slip inspecteds number as shown in Figure 2 to 7:

According to Fig. 2-4 it will be seen that during 1s sampling period (representing that epoch, unit was 1s), 2 without geometry phase combination cycle slip inspected number Δ N_0,1,-1、ΔN_1,-1,0(representing with without geometry phase combination coefficient (0,1 ,-1), (1 ,-1,0) in figure) and 1 Ionosphere Residual Error combination cycle slip inspected number Δ Φ₂₃Sensitivity very high, the highest threshold range is in (-0.008,0.008), and now 3 combination cycle slip inspecteds number show as random error characteristics, the outstanding change of amplitude.If the absolute value of 3 combination cycle slip inspected number amplitudes > 0.008, then can be judged as there occurs cycle slip. (represent that epoch, unit was 5s) when the sampling period is 5s, 3 combination cycle slip inspected number Δ N_0,1,-1、ΔN_1,-1,0With Δ Φ₂₃Sensitivity also very high, compared with the 1s sampling period, both are without relatively considerable change, now 3 combination cycle slip inspecteds number show as random error characteristics, the not outstanding change of amplitude, the highest threshold range is still in (-0.008,0.008), as illustrated in figs. 5-7, cycle slip detection is now also suitable for.

According to Fig. 2～Fig. 7 result, the combination cycle slip inspected number constructed is highly sensitive, for (-0.008,0.008), when combine cycle slip inspected number amplitude absolute value > 0.008 time, can be judged as there occurs cycle slip, and in reality occur cycle slip minimum be 1 week, with these 3 combination cycle slip inspecteds number just can obviously detect cycle slip.

Step 4, according to formula (4) respectively at the Big Dipper three frequently carrier phase observation data φ in 1s, 5s sampling period₁、φ₂、φ₃150 epoch correspondence add cycle slip (-1 ,-2 ,-3) (i.e. φ₁Add-1, φ₂Add-2, φ₃Add-3), with 3 the combination cycle slip inspected number Δ N obtained_0,1,-1、ΔN_1,-1,0With Δ Φ₂₃Carrying out cycle slip detection, result of detection is as shown in Fig. 8～Figure 13:

By Fig. 8-10 it will be seen that during 1s sampling period, after adding cycle slip combination (-1 ,-2 ,-3) 150 epoch, 3 combination cycle slip inspected number Δ N_0,1,-1、ΔN_1,-1,0With Δ Φ₂₃Amplitude all there occurs change, the cycle slip variable quantity detected is respectively-0.2095 ,-0.2966 ,-0.8446, the absolute value of cycle slip variable quantity > 0.008, illustrate and now can effectively detect cycle slip, in addition, 3 combination cycle slip inspecteds number all can effectively detect cycle slip, illustrates that the present invention does not exist insensitive cycle slip; When the 5s sampling period, equally after adding cycle slip combination (-1 ,-2 ,-3) 150 epoch, 3 combination cycle slip inspected number Δ N_0,1,-1、ΔN_1,-1,0With Δ Φ₂₃The cycle slip variable quantity detected is respectively-0.2103 ,-0.2691 ,-0.848, the absolute value of cycle slip variable quantity > 0.008, as described and depicted in figs. 9-13, close with the 1s sampling period, illustrate that this sampling period also can effectively detect cycle slip.

According to Fig. 9～Figure 13 result it will be seen that the present invention is for the Big Dipper three frequently carrier phase observation data φ in below 5s sampling period₁、φ₂、φ₃In cycle slip detection, there is not insensitive cycle slip, and can effectively detect the little cycle slip of 1～3 week.

Above in conjunction with accompanying drawing, the specific embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned enforcement mode, in the ken that those of ordinary skill in the art possess, it is also possible to make various change under the prerequisite not departing from objective of the present invention.

Claims (2)

1. one kind based on the frequently Cycle Slips Detection of the Big Dipper three without geometric phase and Ionosphere Residual Error method, it is characterised in that: the carrier phase observation data φ obtaining T Big Dipper B1, B2, B3 frequency range first respectively₁、φ₂、φ₃; Then adopt without geometric phase method carrier phase observation data φ₁、φ₂、φ₃Construct 3 combination cycle slip inspecteds number, adopt Ionosphere Residual Error method to carrier phase observation data φ₁、φ₂、φ₃It is configured to 1 combination cycle slip inspected number; Finally 3 are combined the detection that cycle slip inspected number carries out cycle slip.

2. according to claim 1 based on the Cycle Slips Detection frequently of the Big Dipper three without geometric phase and Ionosphere Residual Error method, it is characterised in that: the concrete steps of described method are as follows:

Step1, the carrier phase observation data φ obtaining T Big Dipper B1, B2, B3 frequency range respectively₁、φ₂、φ₃;

Step2, according to formula (1) to carrier phase observation data φ₁、φ₂、φ₃Carry out without geometry phase formation, obtain without geometry phase combination observed quantityFormula (1) is poor in intercropping epoch, obtain cycle slip inspected number

$L_{\∂\mathrm{\β}\mathrm{\γ}}=\∂{\mathrm{\λ}}_1{\mathrm{\φ}}_1+{\mathrm{\β\λ}}_2{\mathrm{\φ}}_2+{\mathrm{\γ\λ}}_3{\mathrm{\φ}}_3=-N_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·d/{\mathrm{\λ}}_1+{\mathrm{\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(1\right)$

${\mathrm{\ΔN}}_{\∂\mathrm{\β}\mathrm{\γ}}=-{\mathrm{\ΔL}}_{\∂\mathrm{\β}\mathrm{\γ}}-{\mathrm{\η}}_{\∂\mathrm{\β}\mathrm{\γ}}\·\mathrm{\Δ}d/{\mathrm{\λ}}_1+{\mathrm{\Δ\ϵ}}_{\∂\mathrm{\β}\mathrm{\γ}}---\left(2\right)$

Choose two groups without geometry phase combination coefficient form without geometry phase combination cycle slip inspected number as first, second combine cycle slip inspected number;

According to formula (3) to obtain carrier phase observation data φ₁、φ₂、φ₃Carry out the 3rd combination cycle slip inspected number, i.e. Ionosphere Residual Error combination cycle slip inspected number Δ Φ₂₃Structure;

$\begin{array}{c}{\mathrm{\Δ\Φ}}_{23}={\mathrm{\φ}}_2(t+1)-{\mathrm{\φ}}_2\left(t\right)-\frac{f_2}{f_3}\[{\mathrm{\φ}}_3(t+1)-{\mathrm{\φ}}_3\left(t\right)\]\\ ={{\mathrm{\Δ}}^{23}}_{ion}(t+1)-{{\mathrm{\Δ}}^{23}}_{ion}\left(t\right)+d\end{array}---\left(3\right)$

In formula:It is without geometry phase combination observed quantity,For the variable quantity without geometry phase combination observed quantity;β, γ are without geometry phase combination coefficient; φ₁,φ₂,φ₃It is respectively the carrier phase observation data of B1, B2, B3 tri-frequency ranges; λ₁,λ₂,λ₃It is respectively the carrier wavelength of B1, B2, B3 tri-frequency ranges;It it is combination integer ambiguity;It it is ionosphere delay scale-up factor;It is combination observation noise,It it is the variable quantity of combination observation noise; D is ionosphere delay, and Δ d is the variable quantity of ionosphere delay; φ₂(t)、φ₃At the carrier phase observation data of B2, B3 frequency range when () is respectively t epoch t; f₂、f₃It is respectively the carrier frequency of Big Dipper B2, B3 frequency range;For Ionosphere Residual Error during t epoch;

Step3, according to formula (4), at three frequently carrier phase observation data φ₁、φ₂、φ₃T any epoch add cycle slip, obtain φ₁'、φ₂'、φ₃'; According to the φ obtained₁'、φ₂', φ 3', integrating step Step1, Step2 obtain the combination cycle slip inspected number of first, second, third after adding cycle slip; Whether change according to first, second, third amplitude combining cycle slip inspected number and judge φ respectively₁'、φ₂'、φ₃' in whether there occurs cycle slip: if amplitude change, then there occurs cycle slip, the position corresponding according to amplitude change can determine that cycle slip occurs epoch t and the cycle slip value at t epoch place;

φ_i'=φ_i+ Δ ni=1,2,3; (4)

In formula: Δ n is epoch 1 ..., the cycle slip size that epoch adds between T, T is the Big Dipper number chosen and the carrier phase observation data number representing single frequency range.