CN106842236B - GNSS receiver cycle-slip detection and repair processing unit - Google Patents
GNSS receiver cycle-slip detection and repair processing unit 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The highly reliable cycle-slip detection and repair processing method and processing device of a kind of INS assisted GNSS receiver provided by the embodiments of the present application, the high-precision navigator fix information exported in short-term using INS, ensure that the alternate position spike of front and back epoch meets default precision, by being iterated solution to the parameter to be estimated epoch in difference observational equation, so as to obtain the higher parameter to be estimated of precision.And then the variation of cycle slip can accurately be reflected using observation residual error by difference observational equation between the epoch, to improve the precision of Detection of Cycle-slip.
Description
Technical Field
The application relates to the technical field of GNSS precision positioning, in particular to a method and a device for detecting and repairing high-reliability cycle slip of an INS assisted GNSS receiver.
Background
With the rapid development of satellite application technology, the precision requirement on satellite navigation positioning is higher and higher, and accurate and effective cycle slip detection and restoration are important prerequisites for high-precision positioning. In areas with relatively severe observation conditions such as urban high-rise forests and field forest density, satellite signals are temporarily blocked, so that the carrier phase measurement and counting are temporarily interrupted, namely, the signals are unlocked, and the cycle slip detection phenomenon frequently occurs, so that the cycle slip needs to be detected and repaired firstly in a data preprocessing module.
For the research of cycle slip detection and repair, methods are many, and typical cycle slip detection methods are classified into two types, one is to detect cycle slip by checking continuity of observed data and linear combination thereof, because cycle slip destroys continuity of data. The methods are classically higher-order difference method, polynomial fitting method and wavelet analysis method. The assay quantities include ionospheric combinations, double-difference combinations, and the like. The other is to detect the cycle slip by utilizing a gross error detection technology, and comprises a Kalman filtering method and a quasi-calibration method.
However, the precision of the cycle slip detection method is not high, so that the pressure for repairing the cycle slip at the later stage is increased.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for processing high-reliability cycle slip detection and repair of an INS-assisted GNSS receiver, so as to improve the accuracy of cycle slip detection.
The method and the device for detecting and repairing the high-reliability cycle slip of the INS assisted GNSS receiver are realized as follows:
a high-reliability cycle slip detection and restoration processing method for an INS assisted GNSS receiver comprises the following steps:
s1: outputting high-precision navigation positioning information by using INS in a short time so as to ensure that the difference between the previous epoch position and the next epoch position meets the preset precision;
s2: establishing an inter-epoch difference observation equation;
s3: adjusting an observed value residual error in the inter-epoch difference observation equation according to a weight function in a preset weight selection iteration strategy;
s4: solving parameters to be estimated in the inter-epoch difference observation equation according to the adjusted observation value residual error;
s5: repeating the steps S2 and S3 to iteratively solve the parameters to be estimated until the difference between the parameters to be estimated obtained by the iterative solution of the previous iteration and the subsequent iteration is smaller than a preset threshold value;
s6: determining the cycle slip of the GNSS receiver by using the inter-epoch differential observation equation according to the parameter to be estimated obtained after the iteration is finished;
s7: and selecting a cycle slip abnormal value according to a preset cycle slip threshold value and repairing the cycle slip abnormal value.
Optionally, the positioning and speed measuring of the GNSS receiver are performed based on the pseudorange observation value, the doppler observation value and an inertial navigation system INS algorithm to ensure that a difference between the previous epoch position and the next epoch position meets a preset accuracy, and the method specifically includes:
utilizing INS to output high-precision information in a short time, and performing integral extrapolation on the position of the next epoch based on the previous position to complete short-time meter positioning and centimeter speed measurement;
and integrally extrapolating the position of the next epoch receiver based on the position and the speed of the GNSS receiver of the previous epoch according to the positioning and speed measuring results so as to ensure that the difference between the position of the previous epoch and the position of the next epoch meets the preset precision.
Optionally, the inter-epoch difference observation equation is established according to the following formula:
wherein,representing the observed residual between two epochs, ρ representing the variation of the geometric distance from the satellite to the earth between two epochs, C δ t representing the variation of the satellite clock difference between two epochs, λ representing the wavelength of the carrier, Δ N representing the cycle slip, δ ρionoThe variation value of the ionospheric error between two epochs is represented, and X represents a parameter to be estimated.
Optionally, the weight function in the preset weight selection iteration strategy is specifically:
where σ denotes an error in unit weight of parameter estimation, and v denotes an observation residual.
Optionally, the method further includes:
determining cycle slip accuracy of the GNSS receiver using a covariance matrix of observation residuals or using a posterior unit weight variance.
Optionally, the posterior unit weight variance specifically includes:
wherein,representing the posterior unit weight variance, V representing the observed residual, DLLAnd representing a variance covariance matrix of the observation value vector, wherein n represents the number of the observation values participating in calculation, and t is the preset number of the observation values.
An INS assisted GNSS receiver high-reliability cycle slip detection and restoration processing method and device comprise:
the position determining unit is used for outputting high-precision navigation positioning information in a short time by using the INS so as to ensure that the difference value between the previous epoch position and the next epoch position meets the preset precision;
the observation equation establishing unit is used for establishing a difference observation equation between epochs;
the observation value residual error adjusting unit is used for adjusting the observation value residual error in the inter-epoch difference observation equation according to a weight function in a preset weight selection iteration strategy;
the parameter to be estimated solving unit is used for solving the parameter to be estimated in the inter-epoch differential observation equation according to the adjusted observed value residual error;
the iteration unit is used for repeatedly executing the observation value residual error adjusting unit and the parameter to be estimated solving unit so as to carry out iteration solving on the parameter to be estimated until the difference value between the parameters to be estimated obtained by the iteration solving of the previous time and the next time is smaller than a preset threshold value;
the cycle slip determining unit is used for determining the cycle slip of the GNSS receiver by using the inter-epoch differential observation equation according to the parameter to be estimated obtained after the iteration is finished;
and the cycle slip repairing unit is used for selecting a cycle slip abnormal value according to a preset cycle slip threshold value and repairing the cycle slip abnormal value.
According to the method and the device for detecting and repairing the high-reliability cycle slip of the INS-assisted GNSS receiver, iterative solution is carried out on the parameters to be estimated in the differential observation equation between the epochs, so that the parameters to be estimated with high precision can be obtained. Furthermore, the change of the cycle slip can be accurately reflected by using the observed value residual error through the inter-epoch difference observation equation, so that the precision of cycle slip detection is improved.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a flowchart of a high-reliability cycle slip detection and recovery processing method for an INS-assisted GNSS receiver according to an embodiment of the present disclosure;
fig. 2 is a functional block diagram of an INS-assisted GNSS receiver high-reliability cycle slip detection and recovery apparatus according to an embodiment of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Fig. 1 is a flowchart of a high-reliability cycle slip detection and recovery processing method for an INS-assisted GNSS receiver according to an embodiment of the present disclosure. Although the flow described below includes operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment). As shown in fig. 1, the method may include:
s1: outputting high-precision navigation positioning information by using INS in a short time so as to ensure that the difference between the previous epoch position and the next epoch position meets the preset precision;
s2: and establishing an inter-epoch difference observation equation.
In the embodiment of the present application, a differential observation equation between single-frequency carrier epochs can be established, which is specifically as follows:
wherein,representing the observed residual between two epochs, ρ representing the variation of the geometric distance from the satellite to the earth between two epochs, C δ t representing the variation of the satellite clock difference between two epochs, λ representing the wavelength of the carrier, Δ N representing the cycle slip, δ ρionoThe variation value of the ionospheric error between two epochs is represented, and X represents a parameter to be estimated. The parameters to be estimated are the variation values of receiver clock differences between epochs and the comprehensive error variation values of residual errors of various models. The precision of the observed value residual depends on the precision of the parameter to be estimated. In order to accurately reflect cycle slip by using the observed value residual error, the parameter X to be estimated must be accurately solved.
In a preferred embodiment of the present application, in order to ensure the accuracy of the established inter-epoch differential observation equation, the positions of the GNSS receivers of two epochs can be optimized. Specifically, in a preferred embodiment of the present application, before the step of establishing the inter-epoch differential observation equation, a position of the GNSS receiver in a next epoch may be determined based on a position of the GNSS receiver in a previous epoch, so as to ensure that a difference between the position of the previous epoch and the position of the next epoch satisfies a preset accuracy. Therefore, the data measured based on the previous epoch position and the next epoch position can be correlated, and the established differential observation equation can be ensured to be more accurate.
Specifically, the INS is adopted to output the position and the speed of the GNSS receiver based on the previous epoch, forecast the position of the receiver of the next epoch, ensure the precision of the position difference of the previous epoch and the next epoch within a certain range, and then the robust estimation based on the weight selection iteration is adopted to carry out resolving. The algorithm comprises the following steps:
INS with XkPosition based, integral extrapolation of k +1 epoch receiver position, and the difference in the previous and subsequent epoch positions (X)k+1-Xk) Should be less than a set threshold; satellite coordinates are calculated using the broadcast ephemeris.
And (4) establishing an observation equation according to the above, setting an initial weight array as a unit array, and resolving.
In an actual application scene, high-precision information is output by using INS in a short time, and integral extrapolation is performed on the position of the previous epoch and the position of the next epoch, so that short-time meter-level positioning and centimeter-level speed measurement are completed; and integrally extrapolating the position of the next epoch receiver based on the position and the speed of the GNSS receiver of the previous epoch according to the positioning and speed measuring results so as to ensure that the difference between the position of the previous epoch and the position of the next epoch meets the preset precision.
S3: and adjusting the observed value residual error in the inter-epoch difference observation equation according to a weight function in a preset weight selection iteration strategy.
After the differential observation equation between epochs is established, the parameters to be estimated in the equation need to be solved. In the embodiment of the present application, the robust estimation of the option iteration may be adopted to estimate the parameter to be estimated. In particular, the option iteration strategy may be preselected. After the weight selection iteration strategy is selected, a weight function is corresponding to the weight selection iteration strategy, so that the observed value residual error in the inter-epoch difference observation equation can be adjusted according to the weight function. In this embodiment of the present application, an IGG weight selection iteration strategy may be adopted, and the corresponding weight function may be expressed as:
where σ denotes an error in unit weight of parameter estimation, and v denotes an observation residual.
S4: and solving the parameter to be estimated in the inter-epoch difference observation equation according to the adjusted observed value residual error.
After the observed value residual error is adjusted, the adjusted observed value residual error can be substituted into the inter-epoch difference observation equation, so that the parameter to be estimated is solved. In the embodiment of the present application, an iterative method is adopted to solve the parameter to be estimated, so that the observed value residual needs to be adjusted according to a weight selection iterative strategy, and the parameter to be estimated needs to be solved again.
S5: and repeating the steps S3 and S4 to iteratively solve the parameters to be estimated until the difference between the parameters to be estimated obtained by the iterative solution of the previous iteration and the subsequent iteration is less than a preset threshold value.
In the embodiment of the application, one parameter to be estimated can be generated after each iteration, and when the difference value between the parameters to be estimated obtained by the previous iteration and the later iteration is smaller than the preset threshold value, the iteration process can be stopped.
S6: and determining the cycle slip of the GNSS receiver by using the inter-epoch difference observation equation according to the parameter to be estimated obtained after the iteration is finished.
After the iteration process is stopped, the parameter to be estimated obtained by the last iteration calculation can be a value meeting the preset precision in the embodiment of the application, and then the parameter to be estimated meeting the preset precision is substituted into the differential observation equation between the epochs, so that the cycle slip of the GNSS receiver can be accurately determined by using the observed value residual error.
S7: and selecting a cycle slip abnormal value according to a preset cycle slip threshold value and repairing the cycle slip abnormal value.
In the embodiment of the application, the observed value residual error can be traversed, and the cycle slip abnormal value can be selected and repaired according to the preset cycle slip threshold value.
In addition, after the weight selection iterative estimation process of the cycle slip is converged, a variance covariance matrix of an observed value residual V can be obtained; considering the parameter to be estimated as X, the observed value vector as L and the variance covariance matrix as DLLAnd designing the matrix as B, and obtaining the matrix by the least square principle:
wherein D isVVThe variance covariance matrix of the observed value residual is obtained, and the obtained variance covariance matrix of the observed value residual can be used for determining the precision of the detected cycle slip value. Simultaneous acquired posterior unit weight varianceCan also be used to determine the accuracy of cycle slip detection. Wherein,representing the posterior unit weight variance, V representing the observed residual, DLLAnd a variance covariance matrix representing the observation value vector, n represents the number of observation values participating in calculation, t is the preset number of observation values, and in the actual calculation process, t is always equal to 1.
In the actual data processing, as the iteration is continuously performed, the unit weight variance is smaller and smaller, and at this time, if the observed value residual is still adjusted according to the weight function, the normal observed value residual is treated as the cycle slip, so that the iteration times are increased, the algorithm efficiency is reduced, and an error result is possibly obtained. Therefore, in a preferred embodiment of the present application, a threshold needs to be set for the error σ in the unit weight, and the weighting process is not performed when the error in the unit weight is smaller than the threshold.
Fig. 2 is a functional block diagram of an INS-assisted GNSS receiver high-reliability cycle slip detection and repair and apparatus according to an embodiment of the present disclosure. As shown in fig. 2, the apparatus includes:
the position determining unit 100 outputs high-precision navigation positioning information in a short time by using the INS to ensure that a difference value between the previous epoch position and the next epoch position meets a preset precision;
an observation equation establishing unit 200, configured to establish an inter-epoch difference observation equation;
an observation residual error adjusting unit 300, configured to adjust an observation residual error in the inter-epoch difference observation equation according to a weight function in a preset weight selection iteration strategy;
a parameter to be estimated solving unit 400, configured to solve a parameter to be estimated in the inter-epoch differential observation equation according to the adjusted observed value residual;
the iteration unit 500 is configured to repeatedly execute the observation value residual error adjustment unit and the parameter to be estimated solution unit to perform iterative solution on the parameter to be estimated until a difference value between the parameters to be estimated obtained by two iterative solutions before and after is smaller than a preset threshold;
a cycle slip determining unit 600, configured to determine a cycle slip of the GNSS receiver by using the inter-epoch differential observation equation according to the parameter to be estimated obtained after the iteration is finished;
the cycle slip repairing unit 700 is configured to select a cycle slip abnormal value according to a preset cycle slip threshold value and repair the cycle slip abnormal value.
In a preferred embodiment of the present application, the position determining unit 100 utilizes INS to output high-precision information in a short time, and performs integral extrapolation on the position of the previous epoch and the position of the next epoch based on the position of the previous epoch, thereby completing short-time meter positioning and centimeter meter speed measurement;
and integrally extrapolating the position of the next epoch receiver based on the position and the speed of the GNSS receiver of the previous epoch according to the positioning and speed measuring results so as to ensure that the difference between the position of the previous epoch and the position of the next epoch meets the preset precision.
According to the high-reliability cycle slip detection and restoration processing method for the INS-assisted GNSS receiver, the parameters to be estimated in the differential observation equation between the epochs are iteratively solved, so that the parameters to be estimated with high precision can be obtained. Furthermore, the change of the cycle slip can be accurately reflected by using the observed value residual error through the inter-epoch difference observation equation, so that the precision of cycle slip detection is improved.
In this specification, adjectives such as first and second may only be used to distinguish one element or action from another, without necessarily requiring or implying any actual such relationship or order. References to an element or component or step (etc.) should not be construed as limited to only one of the element, component, or step, but rather to one or more of the element, component, or step, etc., where the context permits.
The foregoing description of various embodiments of the present application is provided for the purpose of illustration to those skilled in the art. It is not intended to be exhaustive or to limit the invention to a single disclosed embodiment. As described above, various alternatives and modifications of the present application will be apparent to those skilled in the art to which the above-described technology pertains. Thus, while some alternative embodiments have been discussed in detail, other embodiments will be apparent or relatively easy to derive by those of ordinary skill in the art. This application is intended to cover all alternatives, modifications, and variations of the invention that have been discussed herein, as well as other embodiments that fall within the spirit and scope of the above-described application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (2)
1. An INS assisted GNSS receiver high-reliability cycle slip detection and repair processing device, which is characterized by comprising:
the position determining unit is used for outputting high-precision navigation positioning information in a short time by using the INS so as to ensure that the difference between the position of the previous epoch and the position of the next epoch meets the preset precision;
the observation equation establishing unit is used for establishing a difference observation equation between epochs;
the observation value residual error adjusting unit is used for adjusting the observation value residual error in the inter-epoch difference observation equation according to a weight function in a preset weight selection iteration strategy;
the parameter to be estimated solving unit is used for solving the parameter to be estimated in the inter-epoch differential observation equation according to the adjusted observed value residual error;
the iteration unit is used for repeatedly executing the observation value residual error adjusting unit and the parameter to be estimated solving unit so as to carry out iteration solving on the parameter to be estimated until the difference value between the parameters to be estimated obtained by the iteration solving of the previous time and the next time is smaller than a preset threshold value;
the cycle slip determining unit is used for determining the cycle slip of the GNSS receiver by using the inter-epoch differential observation equation according to the parameter to be estimated obtained after the iteration is finished;
and the cycle slip repairing unit is used for selecting a cycle slip abnormal value according to a preset cycle slip threshold value and repairing the cycle slip abnormal value.
2. The apparatus of claim 1, wherein the position determining unit outputs high-precision information by using the INS, and performs integral extrapolation based on a previous epoch position and a next epoch position to complete short-term positioning and centimeter-scale speed measurement; and integrally extrapolating the position of the next epoch receiver based on the position and the speed of the GNSS receiver of the previous epoch according to the positioning and speed measuring results so as to ensure that the difference between the position of the previous epoch and the position of the next epoch meets the preset precision.
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| CN105549046B (en) * | 2015-12-04 | 2019-01-29 | 航天恒星科技有限公司 | GNSS receiver cycle-slip detection and repair processing method |
| CN109917356B (en) * | 2019-03-13 | 2022-10-28 | 武汉际上导航科技有限公司 | Airborne laser scanning system error calibration method |
| CN109799521A (en) * | 2019-03-14 | 2019-05-24 | 苏州工业园区测绘地理信息有限公司 | A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS |
| CN110398758A (en) * | 2019-07-24 | 2019-11-01 | 广州中海达卫星导航技术股份有限公司 | Detection of Gross Errors method, apparatus, equipment and storage medium in real-time clock bias estimation |
| CN111679307B (en) * | 2020-07-14 | 2023-08-25 | 金华航大北斗应用技术有限公司 | Satellite positioning signal resolving method and device |
| CN111999750B (en) * | 2020-10-29 | 2021-01-08 | 中国人民解放军国防科技大学 | Real-time single-station cycle slip detection improvement method aiming at inaccurate lever arm |
| CN114152961B (en) * | 2021-11-05 | 2024-08-23 | 广东汇天航空航天科技有限公司 | Cycle slip processing method and device of navigation system |
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