CN108572377A - Based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip - Google Patents
Based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip Download PDFInfo
- Publication number
- CN108572377A CN108572377A CN201810331063.3A CN201810331063A CN108572377A CN 108572377 A CN108572377 A CN 108572377A CN 201810331063 A CN201810331063 A CN 201810331063A CN 108572377 A CN108572377 A CN 108572377A
- Authority
- CN
- China
- Prior art keywords
- cycle slip
- epoch
- carrier phase
- observation
- doppler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- 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
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- 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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
Abstract
The invention discloses the MW combined methods assisted based on Doppler detections and the reparation improved method of cycle slip, characterized in that includes the following steps：1）Obtain the observation data of L1, L2；2）It obtains carrier phase and surveys code pseudorange observation equation；3）Obtain MW combination observation models；4）Calculate cycle slip；5）Obtain the average wide lane ambiguity and root mean square of MW combinations；6）Judge cycle slip；7）Determine the relationship of doppler values and carrier phase and time；8）It obtains Doppler and integrates observation model；9）Add m, n weeks cycle slips respectively in L1 frequency band signals, L2 frequency band signals carrier phases；10）Improved observation re-starts Doppler's integral operation；11）Judge cycle slip；12）Obtain result.This method can tell the carrier position of GPS signal L1 and L2 cycle slip generation.
Description
Technical field
The present invention relates to navigator fix fields, and in particular to the improvement cycle slips detection of landslide deformation monitoring high accuracy positioning is calculated
Method is based especially on the detection of MW combined methods and the reparation improved method of cycle slip of Doppler's auxiliary.
Background technology
Currently, global position system GPS (Global Positioning System, abbreviation GPS) system of modernization
In, since ionosphere, troposphere, pseudorange and multipath effect equal error will produce prodigious influence to Detection of Cycle-slip, tradition is visited
The method precision for surveying cycle slip is not high, can not detect smaller cycle slip.Double frequency phase and puppet are mostly used for the processing of double frequency cycle slip
Away from united MW (Melborne-Wnbbena, referred to as, MW) combined method, the combination due to a combination thereof wavelength is longer being capable of very great Cheng
The influence caused by station star geometric distance and ionosphere is eliminated on degree, and is suitble to the cycle slip of dynamic case, therefore can be effective
The cycle slip of detection as low as 1 week, though MW combined methods can detect one week cycle slip, but the generation of this cycle slip cannot be told
On which carrier wave, and when an equal amount of cycle slip occurs for the carrier phase of L1 and L2 frequency band signals in GPS system, it will
Such cycle slip combination can not be detected.Doppler measurements are the first derivatives of carrier phase, indicate the variation of carrier phase
Rate, it is a kind of highly stable, and independently of the observation of carrier phase, can't be become because cycle slip occurs for phase
To change, the ability that Doppler's integration method detects cycle slip depends on Doppler's accuracy of observation and data sampling rate, and accuracy of observation is higher,
Sample rate is higher, and it is stronger to detect small cycle slip ability, and is not influenced by receiver motion state, therefore, Doppler's integration method with
MW combined methods have good complementarity.
Invention content
The purpose of the present invention is in view of the deficiencies of the prior art, and a kind of MW combined methods assisted based on Doppler are provided and are visited
It surveys and repairs the improved method of cycle slip.This method can tell the carrier position of GPS signal L1 and L2 cycle slip generation.
Realizing the technical solution of the object of the invention is：
Based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip, unlike the prior art,
Include the following steps：
1) the observation data of L1, L2 are obtained：The carrier phase of L1, L2 frequency band signals in T GPS system is obtained respectivelyCode pseudorange P1、P2And doppler measurement D1、D2；
2) it obtains carrier phase and surveys code pseudorange observation equation：Carrier phase and survey code pseudorange are observed substantially in GPS system
Equation is formula (1)-formula (4)；
In formula：λ1And λ2Wavelength in expression system on L1 frequency band signals and L2 frequency band signals carrier waves respectively, f1And f2Respectively
For corresponding frequency and f1=154 × 10.23MHz, f2=120 × 10.23MHz；WithIndicate the carrier wave as unit of week
Carrier phase observable；ρ is receiver to the geometric distance between satellite P；C indicates the light velocity；δtuWith δ tsRespectively represent receiver clock-offsets
With the clock correction of satellite P；I is ionosphere delay error；T is tropospheric delay error；N1And N2Respectively L1 and L2 carrier phases are seen
The integer ambiguity of measured value；
3) MW combination observation models are obtained：According to formula (1)-formula (4) to carrier phase observation data and code pseudorange observation
Value carries out MW combinations, obtains MW combination observation models：
In formula, λMW=C/ (f1-f2) and NMW=N1-N2Wide lane wavelength and wide lane ambiguity are indicated respectively；
4) cycle slip is calculated:The MW combination observation model solutions obtained in conjunction with step 3) calculate receiver at MW weeks of epoch i
Jump inspected number：
5) the average wide lane ambiguity and root mean square of MW combinations are obtained：The average wide lane ambiguity of i epoch before recurrence calculation
Degree and root mean square, recurrence formula are：
Wherein,For the average value of preceding i epoch wide lane ambiguity；The standard deviation of i epoch before σ (i) is indicated；6) sentence
Disconnected cycle slip：It is combined, cycle slip is judged, if meeting in conjunction with the average wide lane ambiguity and root mean square obtained in step 5)
Two following conditions, then it is assumed that there are cycle slips for current epoch：
|(NMW(i)-NMW(i+1)|≤1 (10)
But due to NMW=N1-N2, work as N1、N2When generating identical cycle slip simultaneously, MW combination observation equations are can not to detect
Come；
7) relationship of doppler values and carrier phase and time is determined：Going through for cycle slip can not be judged with MW for step 6)
Member judges cycle slip using Doppler's integral GPS doppler values D indicates the commutation instants rate of carrier phase, i.e.,
In formula,Indicate carrier phase observation data；T indicates the observation moment；
8) it obtains Doppler and integrates observation model：Doppler is a kind of highly stable observation, can't be because of carrier wave
Phase occurs cycle slip and changes, and is distinguished respectively carrier phase L1 frequency band signals, L2 frequency band signals according to Doppler's integral
Carry out the detection of cycle slip, the carrier phase of L1 frequency band signalsCombine with doppler values D, according to cycle slips detection model formation (12)
Find out L1 frequency band signals certain epoch A cycle slip value Δ N1；The carrier phase of L2 frequency band signalsCombine with doppler values D,
According to formula (12) find out L2 frequency band signals certain epoch B cycle slip value Δ N2：
In formula, Δ N indicates residual error, i.e. cycle slip inspected number,D indicates carrier phase and doppler measurement respectively,
In, unit is respectively week and Hz, and Δ t indicates the time interval of i-th and i-1 epoch, i.e. Δ t=ti-ti-1；9) believe in L1 frequency ranges
Number, m, n weeks cycle slips are added in L2 frequency band signals carrier phases respectively：For cycle slip Δ N occurs in epoch a1Place, to L1 frequency ranges
The raw carrier phase of signalThe cycle slip of addition m weeks, adding the carrier phase value after cycle slip isCycle slip occurs in epoch b
ΔN2Place, to the raw carrier phase of L2 frequency band signalsThe cycle slip of addition n weeks, adding the phase value after cycle slip is
10) improved observation re-starts Doppler's integral operation：To the carrier phase value after addition cycle slip Step 7), step 8) operation are carried out, the cycle slip value Δ N ' of carrier phase L1 frequency band signals and L2 frequency band signals is regained1With
ΔN′2
11) judge cycle slip：The Δ N ' that step 10) is obtained1With Δ N '2It does than being judged：
If situation 1：It then proves that cycle slip or Δ N do not occur in epoch i1There is m weeks cycle slip in the epoch
It generates, Δ N2There is n weeks cycle slip to generate in the epoch；Situation 2：It then proves that cycle slip has occurred in epoch i；
12) result is obtained：ObservationWithEpoch, step 4), 5), 6) is repeated, if epoch existsCycle slip does not occur for epoch of observation, then shows no cycle slip；If epoch existsCycle slip occurs for epoch of observation, then shows
ΔN1There is m weeks cycle slip to generate in the epoch, Δ N2There is n weeks cycle slip to generate in the epoch；IfEpoch at
Cycle slip does not occur, then shows Δ N1With Δ N2There is identical cycle slip to generate in the epoch.
The advantages of the technical program, is：
(1) the technical program is proposed the MW combined methods detection assisted based on Doppler and repairs cycle slip improved method, will be more
The cycle slip value that Pu Le is detected, which is done, to be compared, and judges whether carrier phase changes according to ratio, and Doppler only combines MW
There are one targetings, can't combine and have an impact to MW, therefore this method can eliminate ionosphere with geometric distance to week
Error caused by jumping, and it is suitable for current intelligence；
(2) the higher detection accuracy of the technical program sample rate is higher；Can solve MW combinations cannot tell cycle slip
On which carrier wave, and L1 and L2 can not be detected, an equal amount of cycle slip combination occurs.
This method can tell the carrier position of GPS signal L1 and L2 cycle slip generation.
Description of the drawings
Fig. 1 is the method flow schematic diagram of embodiment.
Specific implementation mode
Present disclosure is further elaborated with reference to the accompanying drawings and examples, but is not the limit to the present invention
It is fixed.
Embodiment：
Referring to Fig.1, it based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip, including walks as follows
Suddenly：
1) the observation data of L1, L2 are obtained：The carrier phase of L1, L2 frequency band signals in T GPS system is obtained respectivelyCode pseudorange P1、P2And doppler measurement D1、D2；
2) it obtains carrier phase and surveys code pseudorange observation equation：Carrier phase and survey code pseudorange are observed substantially in GPS system
Equation is formula (1)-formula (4)；
In formula：λ1And λ2Wavelength in expression system on L1 frequency band signals and L2 frequency band signals carrier waves respectively, f1And f2Respectively
For corresponding frequency and f1=154 × 10.23MHz, f2=120 × 10.23MHz；WithIndicate the carrier wave as unit of week
Carrier phase observable；ρ is receiver to the geometric distance between satellite P；C indicates the light velocity；δtuWith δ tsRespectively represent receiver clock-offsets
With the clock correction of satellite P；I is ionosphere delay error；T is tropospheric delay error；N1And N2Respectively L1 and L2 carrier phases are seen
The integer ambiguity of measured value；
3) MW combination observation models are obtained：According to formula (1)-formula (4) to carrier phase observation data and code pseudorange observation
Value carries out MW combinations, obtains MW combination observation models：
In formula, λMW=C/ (f1-f2) and NMW=N1-N2Wide lane wavelength and wide lane ambiguity are indicated respectively；
4) cycle slip is calculated:The MW combination observation model solutions obtained in conjunction with step 3) calculate receiver at MW weeks of epoch i
Jump inspected number：
5) the average wide lane ambiguity and root mean square of MW combinations are obtained：The average wide lane ambiguity of i epoch before recurrence calculation
Degree and root mean square, recurrence formula are：
Wherein,For the average value of preceding i epoch wide lane ambiguity；The standard deviation of i epoch before σ (i) is indicated；6) sentence
Disconnected cycle slip：It is combined, cycle slip is judged, if meeting in conjunction with the average wide lane ambiguity and root mean square obtained in step 5)
Two following conditions, then it is assumed that there are cycle slips for current epoch：
|(NMW(i)-NMW(i+1)|≤1 (10)
But due to NMW=N1-N2, work as N1、N2When generating identical cycle slip simultaneously, MW combination observation equations are can not to detect
Come；
7) relationship of doppler values and carrier phase and time is determined：Going through for cycle slip can not be judged with MW for step 6)
Member judges cycle slip using Doppler's integral GPS doppler values D indicates the commutation instants rate of carrier phase, i.e.,
In formula,Indicate carrier phase observation data；T indicates the observation moment；
8) it obtains Doppler and integrates observation model：Doppler is a kind of highly stable observation, can't be because of carrier wave
Phase occurs cycle slip and changes, and is distinguished respectively carrier phase L1 frequency band signals, L2 frequency band signals according to Doppler's integral
Carry out the detection of cycle slip, the carrier phase of L1 frequency band signalsCombine with doppler values D, according to cycle slips detection model formation (12)
Find out L1 frequency band signals certain epoch A cycle slip value Δ N1；The carrier phase of L2 frequency band signalsCombine with doppler values D,
According to formula (12) find out L2 frequency band signals certain epoch B cycle slip value Δ N2：
In formula, Δ N indicates residual error, i.e. cycle slip inspected number,D indicates carrier phase and doppler measurement respectively,
In, unit is respectively week and Hz, and Δ t indicates the time interval of i-th and i-1 epoch, i.e. Δ t=ti-ti-1；9) believe in L1 frequency ranges
Number, m, n weeks cycle slips are added in L2 frequency band signals carrier phases respectively：For cycle slip Δ N occurs in epoch a1Place, to L1 frequency ranges
The raw carrier phase of signalThe cycle slip of addition m weeks, adding the carrier phase value after cycle slip isCycle slip occurs in epoch b
ΔN2Place, to the raw carrier phase of L2 frequency band signalsThe cycle slip of addition n weeks, adding the phase value after cycle slip is
10) improved observation re-starts Doppler's integral operation：To the carrier phase value after addition cycle slip Step 7), step 8) operation are carried out, the cycle slip value Δ N ' of carrier phase L1 frequency band signals and L2 frequency band signals is regained1With
ΔN′2
11) judge cycle slip：The Δ N ' that step 10) is obtained1With Δ N '2It does than being judged：
If situation 1：It then proves that cycle slip or Δ N do not occur in epoch i1There is m weeks cycle slip in the epoch
It generates, Δ N2There is n weeks cycle slip to generate in the epoch；Situation 2：It then proves that cycle slip has occurred in epoch i；
12) result is obtained：ObservationWithEpoch, step 4), 5), 6) is repeated, if epoch existsCycle slip does not occur for epoch of observation, then shows no cycle slip；If epoch existsCycle slip occurs for epoch of observation, then table
Bright Δ N1There is m weeks cycle slip to generate in the epoch, Δ N2There is n weeks cycle slip to generate in the epoch；IfEpoch
Cycle slip does not occur for place, then shows Δ N1With Δ N2There is identical cycle slip to generate in the epoch.
Claims (1)
1. based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip, characterized in that include the following steps：
1) the observation data of L1, L2 are obtained：The carrier phase of L1, L2 frequency band signals in T GPS system is obtained respectively
Code pseudorange P1、P2And doppler measurement D1、D2；
2) it obtains carrier phase and surveys code pseudorange observation equation：Carrier phase and the survey basic observational equation of code pseudorange in GPS system
For formula (1)-formula (4)；
In formula：λ1And λ2Wavelength in expression system on L1 frequency band signals and L2 frequency band signals carrier waves respectively, f1And f2Respectively pair
The frequency and f answered1=154 × 10.23MHz, f2=120 × 10.23MHz；WithIndicate the carrier phase as unit of week
Observation；ρ is receiver to the geometric distance between satellite P；C indicates the light velocity；δtuWith δ tsIt respectively represents receiver clock-offsets and defends
The clock correction of star P；I is ionosphere delay error；T is tropospheric delay error；N1And N2Respectively L1 and L2 carrier phase observation datas
Integer ambiguity；
3) MW combination observation models are obtained：According to formula (1)-formula (4) to carrier phase observation data and code Pseudo-range Observations into
Row MW combinations, obtain MW combination observation models：
In formula, λMW=C/ (f1-f2) and NMW=N1-N2Wide lane wavelength and wide lane ambiguity are indicated respectively；
4) cycle slip is calculated:MW cycle slip of the receiver in epoch i is calculated in conjunction with the MW combination observation model solutions that step 3) obtains to examine
The amount of testing：
5) the average wide lane ambiguity and root mean square of MW combinations are obtained：Before recurrence calculation the average wide lane ambiguity of i epoch with
And root mean square, recurrence formula are：
Wherein,For the average value of preceding i epoch wide lane ambiguity；The standard deviation of i epoch before σ (i) is indicated；
6) judge cycle slip：It is combined in conjunction with the average wide lane ambiguity and root mean square obtained in step 5), cycle slip is sentenced
It is disconnected, if meeting two following conditions, then it is assumed that there are cycle slips for current epoch：
|(NMW(i)-NMW(i+1)|≤1 (10)
But due to NMW=N1-N2, work as N1、N2When generating identical cycle slip simultaneously, MW combination observation equations are can not to detected
's；
7) relationship of doppler values and carrier phase and time is determined：The epoch of cycle slip can not be judged with MW for step 6),
Cycle slip is judged using Doppler's integral, GPS doppler values D indicates the commutation instants rate of carrier phase, i.e.,
In formula,Indicate carrier phase observation data；T indicates the observation moment；
8) it obtains Doppler and integrates observation model：Carrier phase L1 frequency band signals, L2 frequency ranges are believed respectively according to Doppler's integral
The detection of cycle slip, the carrier phase of L1 frequency band signals are carried out number respectivelyCombine with doppler values D, it is public according to cycle slips detection model
Formula (12) find out L1 frequency band signals certain epoch A cycle slip value Δ N1；The carrier phase of L2 frequency band signalsWith doppler values D
Joint, according to formula (12) find out L2 frequency band signals certain epoch B cycle slip value Δ N2：
In formula, Δ N indicates residual error, i.e. cycle slip inspected number,D indicates carrier phase and doppler measurement respectively, wherein unit
Respectively week and Hz, Δ t indicate the time interval of i-th and i-1 epoch, i.e. Δ t=ti-ti-1；
9) m, n weeks cycle slips are added respectively in L1 frequency band signals, L2 frequency band signals carrier phases：For week occurs in epoch a
Jump Δ N1Place, to the raw carrier phase of L1 frequency band signalsThe cycle slip of addition m weeks, adding the carrier phase value after cycle slip isCycle slip Δ N occurs in epoch b2Place, to the raw carrier phase of L2 frequency band signalsThe cycle slip of addition n weeks, after adding cycle slip
Phase value be
10) improved observation re-starts Doppler's integral operation：To the carrier phase value after addition cycle slipInto
Row step 7), step 8) operation regain the cycle slip value Δ N ' of carrier phase L1 frequency band signals and L2 frequency band signals1With Δ N '2
11) judge cycle slip：The Δ N ' that step 10) is obtained1With Δ N '2It does than being judged：
If situation 1：It then proves that cycle slip or Δ N do not occur in epoch i1There is m weeks cycle slip to generate in the epoch,
ΔN2There is n weeks cycle slip to generate in the epoch；Situation 2：It then proves that cycle slip has occurred in epoch i；
12) result is obtained：ObservationWithEpoch, step 4), 5), 6) is repeated, if epoch existsIt sees
Cycle slip does not occur for survey epoch, then shows no cycle slip；If epoch existsCycle slip occurs for epoch of observation, then shows Δ N1At this
Epoch has m weeks cycle slip to generate, Δ N2There is n weeks cycle slip to generate in the epoch；IfEpoch at week does not occur
It jumps, then shows Δ N1With Δ N2There is identical cycle slip to generate in the epoch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331063.3A CN108572377B (en) | 2018-04-13 | 2018-04-13 | Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810331063.3A CN108572377B (en) | 2018-04-13 | 2018-04-13 | Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108572377A true CN108572377A (en) | 2018-09-25 |
| CN108572377B CN108572377B (en) | 2021-06-11 |
Family
ID=63574762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810331063.3A Active CN108572377B (en) | 2018-04-13 | 2018-04-13 | Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108572377B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358350A (en) * | 2018-10-08 | 2019-02-19 | 中国人民解放军战略支援部队信息工程大学 | A kind of three frequency Cycle Slips Detection of Beidou and device |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN109799520A (en) * | 2019-02-21 | 2019-05-24 | 哈尔滨工程大学 | A kind of carrier only phase RTK localization method based on tri- frequency of GNSS |
| CN111239786A (en) * | 2020-02-28 | 2020-06-05 | 同济大学 | Carrier phase integer ambiguity determination method for unmanned positioning and attitude determination |
| CN114363819A (en) * | 2022-01-10 | 2022-04-15 | 中国人民解放军国防科技大学 | Cycle slip repairing method for high-precision foundation area positioning navigation system |
| WO2022257887A1 (en) * | 2021-06-08 | 2022-12-15 | 中移(上海)信息通信科技有限公司 | Positioning method, terminal, and storage medium |
| CN115826009A (en) * | 2023-02-22 | 2023-03-21 | 广州导远电子科技有限公司 | Cycle slip detection method, storage medium and receiver |
| CN115826006A (en) * | 2022-12-20 | 2023-03-21 | 辽宁工程技术大学 | BDS dual-frequency cycle slip detection combination method |
| CN115826003A (en) * | 2022-07-13 | 2023-03-21 | 辽宁工程技术大学 | BDS three-frequency cycle slip detection method based on Doppler integral assistance |
| CN115902981A (en) * | 2022-11-14 | 2023-04-04 | 中南大学 | Train positioning optimization method and system and rail transit vehicle |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1885062A (en) * | 2005-06-24 | 2006-12-27 | 西门子公司 | Vehicle speed sensor |
| US20110234454A1 (en) * | 2006-04-28 | 2011-09-29 | Loctronix Corporation | System and method for positioning in configured environments |
| CN102830407A (en) * | 2012-09-18 | 2012-12-19 | 桂林电子科技大学 | Method and system for automatically testing anti-interference performance of Beidou receiver |
| CN102841362A (en) * | 2012-09-24 | 2012-12-26 | 桂林电子科技大学 | Three-mode satellite signal simulation method and simulator |
| CN102939762A (en) * | 2010-06-16 | 2013-02-20 | 伊斯曼柯达公司 | Projection apparatus providing reduced speckle artifacts |
| CN102650692B (en) * | 2011-02-25 | 2014-07-23 | 中国人民解放军61081部队 | Method for detecting and repairing cycle slip by utilizing BeiDou three-frequency observed quantity |
| CN204359937U (en) * | 2015-01-23 | 2015-05-27 | 桂林电子科技大学 | A kind of based on big-dipper satellite location and the GPS simulation system of time service |
| CN106443746A (en) * | 2016-07-19 | 2017-02-22 | 招商局重庆交通科研设计院有限公司 | Low-cost double-antenna GNSS/AHRS combination attitude determination method |
| CN106767830A (en) * | 2017-01-05 | 2017-05-31 | 桂林电子科技大学 | A kind of relay type indoor positioning device and localization method |
| CN104483691B (en) * | 2015-01-05 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of GNSS combines accurate one-point positioning method |
| CN106814375A (en) * | 2017-01-24 | 2017-06-09 | 中国电子科技集团公司第五十四研究所 | A kind of catching method and receiver of the deception of anti-rotation hairdo |
| CN107132558A (en) * | 2017-06-13 | 2017-09-05 | 武汉大学 | The multi-frequency multi-mode GNSS cycle slip rehabilitation methods and system of inertia auxiliary |
| CN107703496A (en) * | 2017-10-12 | 2018-02-16 | 桂林电子科技大学 | Tracking before a kind of motor-driven Faint target detection of interactive multimode Bernoulli Jacob filtering |
| CN107843904A (en) * | 2017-10-31 | 2018-03-27 | 桂林电子科技大学 | A kind of code tracking loop and method for suppressing multi-path jamming |
-
2018
- 2018-04-13 CN CN201810331063.3A patent/CN108572377B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1885062A (en) * | 2005-06-24 | 2006-12-27 | 西门子公司 | Vehicle speed sensor |
| US20110234454A1 (en) * | 2006-04-28 | 2011-09-29 | Loctronix Corporation | System and method for positioning in configured environments |
| CN102939762A (en) * | 2010-06-16 | 2013-02-20 | 伊斯曼柯达公司 | Projection apparatus providing reduced speckle artifacts |
| CN102650692B (en) * | 2011-02-25 | 2014-07-23 | 中国人民解放军61081部队 | Method for detecting and repairing cycle slip by utilizing BeiDou three-frequency observed quantity |
| CN102830407A (en) * | 2012-09-18 | 2012-12-19 | 桂林电子科技大学 | Method and system for automatically testing anti-interference performance of Beidou receiver |
| CN102841362A (en) * | 2012-09-24 | 2012-12-26 | 桂林电子科技大学 | Three-mode satellite signal simulation method and simulator |
| CN104483691B (en) * | 2015-01-05 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of GNSS combines accurate one-point positioning method |
| CN204359937U (en) * | 2015-01-23 | 2015-05-27 | 桂林电子科技大学 | A kind of based on big-dipper satellite location and the GPS simulation system of time service |
| CN106443746A (en) * | 2016-07-19 | 2017-02-22 | 招商局重庆交通科研设计院有限公司 | Low-cost double-antenna GNSS/AHRS combination attitude determination method |
| CN106767830A (en) * | 2017-01-05 | 2017-05-31 | 桂林电子科技大学 | A kind of relay type indoor positioning device and localization method |
| CN106814375A (en) * | 2017-01-24 | 2017-06-09 | 中国电子科技集团公司第五十四研究所 | A kind of catching method and receiver of the deception of anti-rotation hairdo |
| CN107132558A (en) * | 2017-06-13 | 2017-09-05 | 武汉大学 | The multi-frequency multi-mode GNSS cycle slip rehabilitation methods and system of inertia auxiliary |
| CN107703496A (en) * | 2017-10-12 | 2018-02-16 | 桂林电子科技大学 | Tracking before a kind of motor-driven Faint target detection of interactive multimode Bernoulli Jacob filtering |
| CN107843904A (en) * | 2017-10-31 | 2018-03-27 | 桂林电子科技大学 | A kind of code tracking loop and method for suppressing multi-path jamming |
Non-Patent Citations (2)
| Title |
|---|
| WANG Z ET.AL: "《Optimal cycle slip detection and correction with reliability》", 《EMPIRE SURVEY REVIEW》 * |
| 马驰 等: "《基于多普勒辅助的电离层残差探测与修复周跳改进方法》", 《全球定位系统》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358350B (en) * | 2018-10-08 | 2021-02-05 | 中国人民解放军战略支援部队信息工程大学 | Beidou three-frequency cycle slip detection method and device |
| CN109358350A (en) * | 2018-10-08 | 2019-02-19 | 中国人民解放军战略支援部队信息工程大学 | A kind of three frequency Cycle Slips Detection of Beidou and device |
| 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 |
| CN109444935A (en) * | 2018-10-17 | 2019-03-08 | 桂林电子科技大学 | A kind of Doppler's detection and reparation for cycle slips method of low sampling rate |
| CN109799520A (en) * | 2019-02-21 | 2019-05-24 | 哈尔滨工程大学 | A kind of carrier only phase RTK localization method based on tri- frequency of GNSS |
| CN109799520B (en) * | 2019-02-21 | 2022-07-15 | 哈尔滨工程大学 | GNSS tri-frequency-based pure carrier phase RTK positioning method |
| CN111239786B (en) * | 2020-02-28 | 2021-04-13 | 同济大学 | Carrier phase integer ambiguity determination method for unmanned positioning and attitude determination |
| CN111239786A (en) * | 2020-02-28 | 2020-06-05 | 同济大学 | Carrier phase integer ambiguity determination method for unmanned positioning and attitude determination |
| WO2022257887A1 (en) * | 2021-06-08 | 2022-12-15 | 中移(上海)信息通信科技有限公司 | Positioning method, terminal, and storage medium |
| CN114363819A (en) * | 2022-01-10 | 2022-04-15 | 中国人民解放军国防科技大学 | Cycle slip repairing method for high-precision foundation area positioning navigation system |
| CN114363819B (en) * | 2022-01-10 | 2024-01-09 | 中国人民解放军国防科技大学 | Cycle slip repairing method for high-precision area positioning navigation system of foundation |
| CN115826003A (en) * | 2022-07-13 | 2023-03-21 | 辽宁工程技术大学 | BDS three-frequency cycle slip detection method based on Doppler integral assistance |
| CN115902981A (en) * | 2022-11-14 | 2023-04-04 | 中南大学 | Train positioning optimization method and system and rail transit vehicle |
| CN115902981B (en) * | 2022-11-14 | 2024-01-30 | 中南大学 | Train positioning optimization method and system and rail transit vehicle |
| CN115826006A (en) * | 2022-12-20 | 2023-03-21 | 辽宁工程技术大学 | BDS dual-frequency cycle slip detection combination method |
| CN115826006B (en) * | 2022-12-20 | 2024-01-26 | 辽宁工程技术大学 | BDS double-frequency cycle slip detection combination method |
| CN115826009A (en) * | 2023-02-22 | 2023-03-21 | 广州导远电子科技有限公司 | Cycle slip detection method, storage medium and receiver |
| CN115826009B (en) * | 2023-02-22 | 2023-04-28 | 广州导远电子科技有限公司 | Cycle slip detection method, storage medium and receiver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108572377B (en) | 2021-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108572377A (en) | Based on the MW combined methods detection of Doppler's auxiliary and the reparation improved method of cycle slip | |
| CN103901439B (en) | Suppress the method and system of vehicle carried pick device data wander | |
| US20130016005A1 (en) | Accuracy Assessment in Assisted GPS Positioning | |
| CN103163542B (en) | Observation constant based method for detecting gross error in global navigation satellite system (GNSS) baseline solution | |
| Bahrami et al. | Instantaneous Doppler-aided RTK positioning with single frequency receivers | |
| CN107193023B (en) | High-precision Beidou satellite system single-point positioning method with closed solution | |
| CN106526634A (en) | Self-adjustment Kalman filtering-based pseudo-range smoothing method by using Doppler frequency shift and carrier phase | |
| CN104297773A (en) | High-precision Beidou tri-band SINS deep integration navigation system | |
| CN104898145B (en) | A kind of fuzziness fixing means and system based on half cycle fuzziness | |
| CN109407126A (en) | A kind of method that multimode rake receiver alignment by union resolves | |
| JP2008209227A (en) | Mobile positioning apparatus | |
| CN106291625A (en) | There is the GNSS receiver of the ability for Solution operator carrier track fuzziness of improvement | |
| CN102426372A (en) | Carrier smoothing pseudo range method and device | |
| CN109613579B (en) | Method and system for calculating integer ambiguity based on least square algorithm | |
| CN108363077A (en) | A kind of carrier phase cycle slip rehabilitation method in Static Precise Point Positioning device | |
| CN105842720A (en) | Wide-range precise real-time positioning method based on carrier phase | |
| JP2017111112A (en) | Ppp and magnetic compass integration system for compensating phase wind-up of receiver in gnss base buoy for measuring long period wave height (ppp and magnetic compass integration system for measuring of long period wave in buoy's wind-up) | |
| JP4424365B2 (en) | Positioning apparatus for moving body and positioning method for moving body | |
| CN107807373A (en) | GNSS high-precision locating methods based on mobile intelligent terminal | |
| JP2008107160A (en) | Satellite radio wave receiver for mobile unit | |
| CN109375248A (en) | A kind of Kalman's multimodality fusion location algorithm model and its method serially updated | |
| CN105388496A (en) | Traffic application vulnerability detection system based on GPS (Global Positioning System) and method thereof | |
| JP2009229065A (en) | Positioning apparatus for moving body | |
| JP5077054B2 (en) | Mobile positioning system | |
| Farooq et al. | Survey of cycle slip detection & correction techniques for single frequency receivers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180925 Assignee: Guangxi Xinyang Shiji Information Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2022450000415 Denomination of invention: An Improved Method of Detecting and Repairing Cycle Slip Based on Doppler Assisted MW Combination Method Granted publication date: 20210611 License type: Common License Record date: 20221227 |
|
| EE01 | Entry into force of recordation of patent licensing contract |