CN109765589B - Three-frequency GNSS real-time cycle slip fixing technology based on non-ionosphere combination - Google Patents
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Abstract
The invention belongs to the technical field of satellite navigation positioning research, and particularly relates to a tri-band GNSS real-time cycle slip fixing technology based on an ionosphere-free combination, which comprises the following steps: receiving and analyzing a broadcast ephemeris message, a real-time precise satellite correction message and a navigation message; improving the ranging precision of pseudo range and carrier phase observed quantity according to the correction quantity of real-time precise satellite orbit and clock error and the modeling correction of main error; performing original observation difference between the kth epoch and the kth epoch; constructing an ionized layer-free EWL combination; constructing an ionization layer-free WL combination based on the fixed ultra-wide item cycle slip; constructing an ionized layer NL-free combination based on the fixed ultra-wide item and the wide lane cycle slip; the invention simplifies the steps of detecting and repairing the traditional multi-frequency combined cycle slip, and improves the calculation efficiency and the fixed success rate of the cycle slip under the condition of ionospheric disturbance.
Description
Technical Field
The invention belongs to the field of satellite navigation positioning technology research, and particularly relates to a three-frequency GNSS real-time cycle slip fixing technology based on an ionosphere-free combination.
Background
With the development of Global Navigation Satellite System (GNSS), providing real-time high-precision positioning service is a main direction of future development of GNSS. The carrier phase observation is important for high-precision GNSS Positioning, such as Real-time Kinematic (RTK) differential Positioning technology and Precision Point Positioning (PPP) technology, because the measurement precision thereof can reach mm level. In practical applications, a phenomenon of discontinuity of integer ambiguity (i.e., cycle slip) occurs in a carrier phase observed quantity due to a signal loss lock, which may cause an increase in the fixed convergence time of PPP positioning accuracy and RTK ambiguity, thereby reducing the performance of high-precision GNSS positioning. Therefore, cycle slip detection and repair are crucial to high-precision GNSS positioning technology based on carrier phase.
The processing of ionospheric delays is one of the key factors in achieving cycle slip detection and remediation, particularly in ionospheric flicker or low sample rate situations. Currently, means of ionospheric suppression in cycle slip detection and remediation methods include: (1) External correction information is introduced, but the accuracy of the ionosphere model is limited, so that the reliability of cycle slip detection and repair is reduced, and the communication burden is introduced. (2) The ionospheric delay is used as a parameter to be estimated, but the method usually needs several minutes to acquire a relatively accurate ionospheric delay error, and the requirement of real-time property is difficult to meet. (3) Differential techniques are introduced, but ionospheric flicker will result in weak correlation of ionospheric delay terms, making the residual after ionospheric correction large. (4) With the development of the modernization of GNSS, the broadcasting of three-frequency and above signals provides convenience for an ionospheric suppression cycle-slip detection and restoration method of a multi-frequency observation combination, but the existing multi-frequency observation combination method usually assumes that ionospheric delay between epochs under a high sampling rate can be ignored, and with the increase of epoch intervals, the reliability of cycle-slip detection and restoration is inevitably reduced. In summary, it is very urgent to design a novel three-frequency cycle slip detection and repair technique capable of solving ionospheric disturbance.
Disclosure of Invention
In order to solve the problems, the invention provides a three-frequency GNSS real-time cycle slip fixing method based on ionosphere-free combination, and the method simultaneously adopts real-time precise satellite orbit and clock error correction information, broadcast ephemeris information and modeling correction methods to correct main error sources in original pseudo-range and carrier phase observed quantity. And performing epoch difference on the corrected three-frequency original observed quantity on the basis to complete the construction of the combination of an Extra-Wide Lane (EWL), a Wide Lane (WL) and a Narrow Lane (Narrow Lane, NL) without an ionized layer, and finally realizing the determination of the cycle slip in the original observed quantity through the linear relation of the EWL, the WL and the NL.
A three-frequency GNSS real-time cycle slip fixing technology based on no ionized layer combination comprises the following steps:
(1) Receiving and analyzing broadcast ephemeris messages, real-time precise satellite correction messages and navigation messages in real time;
(2) Improving the ranging precision of pseudo range and carrier phase observed quantity according to the correction quantity of real-time precise satellite orbit and clock error and the modeling correction of main error;
(3) Carrying out original observation quantity difference between the kth epoch and the kth epoch;
(4) Constructing an ionized layer-free EWL combination;
(5) Constructing an ionization layer-free WL combination based on the fixed ultra-wide item cycle slip;
(6) Constructing an non-ionized layer NL combination based on fixed ultra-wide items and wide lane circumferential jump;
(7) If the cycle slip fixing in the step (5) or the step (6) fails, waiting for the next epoch, and performing multi-epoch accumulation until the fixing in the step (5) and the step (6) succeeds;
(8) Cycle slip values in each raw observation were calculated using a linear relationship of EWL, WL and NL cycle slip.
The real-time receiving and analyzing of the broadcast ephemeris message, the real-time precise satellite correction message and the navigation message comprises the following steps:
the number of the receiving satellites is n, and the number of the receiving satellites meets the following conditions:
n>3+sys
wherein sys represents the number of systems.
The performing original observation differencing between the kth epoch and the kth epoch includes:
the pseudorange and carrier phase observed quantities of epoch difference are:
wherein, delta represents the difference value of adjacent epochs, P and L respectively represent pseudo range and carrier phase observed quantity, j represents a satellite number, g represents frequency, the value of g is 1,2,3,
to correct the rear satellite distances, I 1 Is shown at f 1 The ionospheric delay over the frequency band(s),
is the ionospheric coefficient, λ g Is shown at f g Carrier phase wavelength, epsilon, over a frequency band g And xi g Are respectively shown at f g Pseudorange and carrier phase observations noise over a frequency band.
The method for constructing the ionosphere-free EWL combination comprises the following steps:
wherein,
combining the non-ionized layer ultra-wide lane carrier phase observed quantity;
the ultra-wide lane cycle slip is fixed by a nearby rounding method, and the ultra-wide item cycle slip is expressed as follows:
the floating point solution for the EWL cycle slip is:
wherein λ is EWL ＝c/(f 2 -f 3 ) The wavelength of the ultra-wide lane cycle slip combination is adopted, and c is the light speed;
fixing the ultra-wide lane cycle slip by adopting a mode of rounding nearby:
where round represents rounding nearby.
The method for constructing the non-ionized layer WL combination based on the fixed ultra-wide item cycle slip comprises the following steps:
wherein,
for the combination of non-ionospheric pseudorange observations,
the carrier phase combination is a wide lane carrier phase combination without an ionized layer;
fixing the wide lane ambiguity through an LAMBDA algorithm by a covariance matrix output by least squares and a floating-point solution of the wide lane ambiguity, wherein the wide-term cycle slip is expressed as:
the combination of the ultra-wide term cycle slip and the EWL without the ionized layer is as follows:
wherein,
and
respectively representing pseudo range and carrier phase observed quantity noise of a non-ionized layer WL combination;
and (3) combining the observed quantities of the n satellites, performing weighted least square solution, and obtaining state information as follows:
and a covariance matrix thereof, where (Δ x, Δ y, Δ z) is a three-dimensional position variation, Δ dt is a receiver clock variation,
performing wide lane cycle slip floating point solution;
and fixing by adopting an LAMBDA (label-based dynamic range analysis) method through a wide-lane cycle slip floating point solution and a variance covariance matrix thereof, and checking an optimal solution by adopting a ratio checking method.
The method for constructing the non-ionized layer NL combination based on the fixed ultra-wide item and the wide-lane cycle slip comprises the following steps:
wherein,
and
are respectively f 1 、f 2 And f 1 、f 3 The non-ionized layer narrow lane carrier phase combination.
The calculating the cycle slip value in each original observation quantity by using the linear relation of the EWL, the WL and the NL cycle slip comprises the following steps:
the invention has the beneficial effects that:
aiming at the problem that the success rate of the traditional cycle slip detection and repair method is low under the condition of ionospheric disturbance, the invention fully utilizes the advantages of multi-frequency observed quantity combination to construct the combination without ionospheric EWL, WL and NL, and utilizes the linear relationship among cycle slips under different observed quantity combinations to successively complete cycle slip fixation of the combination without ionospheric EWL, WL and NL, namely to satisfy the inhibition of the ionospheric layer in the cycle slip fixation process. The three-frequency GNSS real-time cycle slip fixing method based on the ionosphere-free combination simplifies the steps of traditional multi-frequency combination cycle slip detection and repair, and improves the calculation efficiency and the fixing success rate of cycle slip under the ionosphere disturbance condition.
Drawings
FIG. 1 is a work flow diagram of the present invention;
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example (b):
a three-frequency GNSS real-time cycle slip fixing method based on no ionized layer combination comprises the following specific steps:
in the step (1), the method comprises the following steps of,
broadcasting ephemeris messages, real-time precise satellite correction messages and navigation messages and analyzing; suppose the number of received satellites is n (n >3+ sys), where sys represents the number of systems. The real-time precision satellite correction message format conforms to the State Space Representation (SSR) in the RTCM 3.02 standard.
Step 2, error correction;
a. correcting the satellite orbit and clock error; because the SSR correction information is based on the broadcast ephemeris, the satellite position and the satellite clock error need to be solved by using the broadcast ephemeris, and then the satellite orbit and the satellite clock error are corrected according to the satellite orbit and clock error correction quantity broadcast by the SSR.
b. Modeling errors; such as earth self-rotation, antenna phase winding and earth field displacement effect, etc. by using empirical model
Step 3, constructing epoch difference observed quantity;
after GNSS raw observations differencing between the k-1 and k epochs, slowly time-varying errors, such as code hardware delay bias, uncalibrated phase delay bias, and laminar wet components, are eliminated. In this case, the pseudorange and carrier phase observed quantity of the epoch difference include a three-dimensional position change amount, a clock difference change amount, an ionospheric change amount, and a noise change amount between epochs as shown in formula 1.
Step 4, establishing an ionized layer-free EWL combination;
a. the ionospheric error and geometric correlation terms are eliminated by the EWL combination of equation 3, then the floating-point solution for the EWL cycle slip can be expressed as,
wherein λ is EWL ＝c/(f 2 -f 3 ) The wavelength of the ultra-wide lane cycle slip combination is shown, and c is the speed of light.
b. And 6, fixing the ultra-wide lane cycle slip by adopting a mode of rounding nearby.
Where round represents rounding nearby.
Step 5, establishing a WL combination without an ionized layer;
a. the ultra-wide term cycle slip obtained by combining the formula 6 and the formula 4 can be obtained,
in the formula,
and
the pseudo-range and carrier-phase observation noise combined at the ionosphere-free WL are shown separately.
b. And (3) carrying out weighted least square solving on the observed quantities of the simultaneous n satellites to obtain state information:
and a covariance matrix thereof, where (Δ x, Δ y, Δ z) is a three-dimensional position variation, Δ dt is a receiver clock variation,
the method is a wide lane cycle slip floating point solution.
c. And (c) fixing the wide-lane cycle slip floating point solution solved in the step (b) and the variance covariance matrix thereof by adopting an LAMBDA (label-based analysis) method, detecting the optimal solution by adopting a ratio-test method, and setting a threshold value for detecting the ratio between the suboptimal solution and the optimal solution as 3.
d. And if the fixation is unsuccessful, entering the next epoch, simultaneously establishing the k-1 th and k-th epoch differential observed quantity and the k-1 th and k +1 th epoch differential observed quantity, and repeating the step 1. Otherwise, obtaining fixed wide-lane cycle slip
One step is carried out.
Step 6, constructing a non-ionized layer NL in a combined manner;
a. combining the ultra-wide term and the wide lane cycle slip obtained by the formulas 6 and 7 with the formula 5,
in the formula,
and
each represents the carrier phase observation noise combined in the non-ionosphere NL.
b. And (3) carrying out weighted least square solving on the observed quantities of the simultaneous n satellites to obtain state information:
and its covariance matrix, where (ax,ay, az) is the three-dimensional position variation, dt is the receiver clock variation,
the method is a wide lane cycle slip floating point solution.
c. And (c) fixing the narrow-lane cycle slip floating point solution solved in the step (b) and the variance covariance matrix thereof by adopting an LAMBDA (label analysis data acquisition) method, detecting the optimal solution by adopting a ratio detection method, and setting the threshold value of the ratio between the detected suboptimal solution and the optimal solution as 3.
d. And if the fixation is unsuccessful, entering the next epoch, establishing the k-1 th and k-th epoch differential observables and the k-1 th and k +1 th epoch differential observables in a simultaneous manner, and repeating the step 1. Otherwise, obtaining fixed narrow lane cycle slip
One step is carried out.
And 7, calculating cycle slip values in each original observation quantity by utilizing the linear relation of the EWL, the WL and the NL cycle slip.
And 8, correcting the carrier phase observed quantity according to the fixed cycle slip.
The overall execution flow chart is shown in fig. 1.
With the development of Global Navigation Satellite System (GNSS), providing real-time high-precision positioning service is a main direction of future development of GNSS. The carrier phase observation is important for high-precision GNSS Positioning, such as Real-time Kinematic (RTK) differential Positioning technology and Precision Point Positioning (PPP) technology, because the measurement precision thereof can reach mm level. In practical applications, a phenomenon of whole-cycle ambiguity discontinuity (i.e., cycle slip) occurs in the carrier phase observed quantity due to signal loss-of-lock, which may cause an increase in the convergence time of PPP positioning accuracy and RTK ambiguity fixing, thereby reducing the performance of high-accuracy GNSS positioning. Therefore, cycle slip detection and repair are crucial to high-precision GNSS positioning technology based on carrier phase.
The processing of ionospheric delays is one of the key factors in achieving cycle slip detection and remediation, particularly in ionospheric flicker or low sample rate situations. Currently, means of ionospheric suppression in cycle slip detection and remediation methods include: (1) External correction information is introduced, but the accuracy of the ionosphere model is limited, so that the reliability of cycle slip detection and repair is reduced, and the communication burden is introduced. (2) The ionospheric delay is used as a parameter to be estimated, but the method usually needs several minutes to acquire a relatively accurate ionospheric delay error, and the requirement of real-time property is difficult to meet. (3) Differential techniques are introduced, but ionospheric flicker will result in weak correlation of ionospheric delay terms, making the residual after ionospheric correction large. (4) With the development of the modernization of GNSS, the broadcasting of three-frequency and above signals provides convenience for an ionospheric suppression cycle-slip detection and restoration method of a multi-frequency observation combination, but the existing multi-frequency observation combination method usually assumes that ionospheric delay between epochs under a high sampling rate can be ignored, and with the increase of epoch intervals, the reliability of cycle-slip detection and restoration is inevitably reduced. In summary, it is very urgent to design a novel three-frequency cycle slip detection and repair technique capable of solving ionospheric disturbance.
The invention discloses a three-frequency GNSS real-time cycle slip fixing method based on an ionosphere-free combination, which comprises the following steps:
step 1, receiving and analyzing broadcast ephemeris messages, real-time precise satellite correction messages and navigation messages in real time;
step 2, improving the ranging precision of pseudo range and carrier phase observed quantity according to the correction quantity of real-time precise satellite orbit and clock error and the modeling correction of main error;
step 3, carrying out original observed quantity difference between the kth epoch and the kth epoch,
where Δ represents the difference between adjacent epochs, P and L represent pseudorange and carrier phase observations, respectively, j represents the satellite number, g represents the frequency (g =1,2, 3),
correction of the rear satellite distance, I 1 Is shown at f 1 The ionospheric delay over the frequency band(s),
is the ionospheric coefficient, λ g Is shown at f g Carrier phase wavelength, epsilon, over a frequency band g And xi g Are respectively shown at f g Pseudorange and carrier phase observation noise over the frequency band.
Step 4, constructing an ionized layer-free EWL combination,
in the formula,
the method is a combination of non-ionosphere ultra-wide lane carrier phase observed quantity, and realizes the fixation of ultra-wide lane cycle slip by a near rounding method, wherein the ultra-wide item cycle slip is expressed as
Step 5, constructing an ionosphere-free WL combination based on the fixed ultra-wide term cycle slip,
in the formula,
for non-ionospheric pseudorangesThe combination of the observed quantities is combined,
the method is a wide-lane carrier phase combination without an ionized layer. The covariance matrix output by Least square and The floating point solution of The widelane AMBiguity are fixed by The Lambda (The Least-square AMBiguity AMBiguity correction) algorithm, and The widelane AMBiguity is expressed as wide-term cycle slip
Step 6, constructing a combination without an ionized layer NL based on the fixed ultra-wide item and the wide lane cycle slip,
in the formula,
and
are respectively f 1 、f 2 And f 1 、f 3 The non-ionized layer narrow lane carrier phase combination. The covariance matrix output by least square and the floating solution of the wide lane ambiguity are fixed by the LAMBDA algorithm, and the narrow lane cycle slip is expressed as
And 7, finally determining cycle slip values on the three-frequency observation quantity according to the cycle slips of the ultra-wide lane, the wide lane and the narrow lane obtained in the steps 4, 5 and 6.
And 8, if the cycle slip fixing in the step 5 or the step 6 fails, waiting for the next epoch, and performing multi-epoch accumulation until the fixing in the step 5 and the step 6 succeeds.
Aiming at the problem that the success rate of the traditional cycle slip detection and repair method is low under the condition of ionospheric disturbance, the invention fully utilizes the advantages of multi-frequency observed quantity combination to construct the combination without ionospheric EWL, WL and NL, and utilizes the linear relationship among cycle slips under different observed quantity combinations to successively complete cycle slip fixation of the combination without ionospheric EWL, WL and NL, namely to satisfy the inhibition of the ionospheric layer in the cycle slip fixation process. The real-time cycle slip fixing method of the three-frequency GNSS based on the ionosphere-free combination simplifies the steps of detecting and repairing the traditional multi-frequency combination cycle slip, and improves the calculation efficiency and the fixing success rate of the cycle slip under the ionosphere disturbance condition.
A three-frequency GNSS real-time cycle slip fixing technology based on non-ionosphere combination comprises the following steps:
step 1, receiving and analyzing broadcast ephemeris messages, real-time precise satellite correction messages and navigation messages in real time;
step 2, improving the ranging precision of pseudo range and carrier phase observed quantity according to the correction quantity of real-time precise satellite orbit and clock error and the modeling correction of main error;
step 3, performing original observation quantity difference between the kth epoch and the kth epoch,
where Δ represents the difference between adjacent epochs, P and L represent pseudorange and carrier phase observations, respectively, j represents the satellite number, g represents the frequency (g =1,2, 3),
correction of post-station satellite distance, I 1 Is shown at f 1 The ionospheric delay over the frequency band(s),
is the ionospheric coefficient, λ g Is shown at f g Carrier phase wavelength, epsilon, over a frequency band g And xi g Are respectively shown at f g Pseudorange and carrier phase observations noise over a frequency band.
Step 4, constructing an ionized layer-free EWL combination,
in the formula,
the method is a combination of non-ionosphere ultra-wide lane carrier phase observed quantity, and realizes the fixation of ultra-wide lane cycle slip by a near rounding method, wherein the ultra-wide item cycle slip is expressed as
Step 5, constructing an ionosphere-free WL combination based on the fixed ultra-wide term cycle slip,
in the formula,
for ionospheric-free pseudorange observation combinations,
the method is a wide-lane carrier phase combination without an ionized layer. Fixing the wide lane ambiguity by a covariance matrix output by least squares and a floating solution of the wide lane ambiguity through an LAMBDA algorithm, wherein the wide-term cycle slip is expressed as
Step 6, constructing a non-ionized layer NL combination based on the fixed ultra-wide term and wide lane cycle slip,
in the formula,
and
are respectively f 1 、f 2 And f 1 、f 3 The non-ionized layer narrow lane carrier phase combination. The covariance matrix output by least square and the floating-point solution of the widelane ambiguity are fixed by the LAMBDA algorithm, and the narrow-lane cycle slip is expressed as
And 7, finally determining cycle slip values on the three-frequency observation quantity according to the cycle slips of the ultra-wide lane, the wide lane and the narrow lane obtained in the steps 4, 5 and 6.
And 8, if the cycle slip fixing in the step 5 or the step 6 fails, waiting for the next epoch, and performing multi-epoch accumulation until the fixing in the step 5 and the step 6 succeeds.
And 4, constructing an ionized layer-free EWL combination, wherein the cycle slip fixing method is not limited to a nearby rounding method as shown in a formula 3.
In steps 5 and 6, the combination of the ionosphere-free WL and NL is constructed, and when the combination of the ionosphere-free WL and NL is constructed, the method is not limited to the combination of formulas 4 and 5, and other methods for fixing the cycle slip according to the observed quantity of the ionosphere-free combination composed of ionosphere frequency characteristics still belong to the scope of the patent claims.
The cycle slip in steps 5 and 6 is fixed by using a LAMBDA method, but the threshold value is not limited to 3.
The cycle slip fixing method in steps 4, 5 and 6 only adopts epoch difference.
Claims (7)
1. A three-frequency GNSS real-time cycle slip fixing method based on an ionosphere-free combination is characterized by comprising the following steps:
(1) Receiving and analyzing broadcast ephemeris messages, real-time precise satellite correction messages and navigation messages in real time;
(2) Improving the ranging precision of pseudo range and carrier phase observed quantity according to the correction quantity of real-time precise satellite orbit and clock error and the modeling correction of main error;
(3) Carrying out original observation quantity difference between the kth epoch and the kth epoch;
(4) Constructing an ionized layer-free EWL combination;
(5) Constructing an ionosphere-free WL combination based on the fixed EWL cycle slip;
(6) Constructing an ionized layer-free NL combination based on the fixed EWL and WL cycle slip; the ionosphere-free NL combination specifically includes:
in the formula,
and
are respectively f 1 、f 2 And f 1 、f 3 There is no ionosphere narrow lane carrier phase combination between epochs of (1); f. of 1 、f 2 And f 3 Respectively representing frequencies corresponding to 1 frequency, 2 frequency and 3 frequency;
and
respectively combined in the absence of an ionosphere NL
And
carrier phase observation noise; c is the speed of light; j represents a satellite number;
correcting the distance of the rear station satellite;
the fixed WL cycle slip with the satellite number j;
the fixed EWL cycle slip with the satellite number of j; Δ represents the difference of adjacent epochs;
(7) If the cycle slip fixing in the step (5) or the step (6) fails, waiting for the next epoch, and performing multi-epoch accumulation until the fixing in the step (5) and the step (6) succeeds;
(8) Cycle slip values in each raw observation were calculated using a linear relationship of EWL, WL and NL cycle slip.
2. The method as claimed in claim 1, wherein the receiving and parsing of the broadcast ephemeris message, the real-time precise satellite correction message and the navigation message in real time comprises:
the number of the receiving satellites is n, and the number of the receiving satellites meets the following conditions:
n>3+sys
wherein sys represents the number of systems.
3. The method as claimed in claim 1, wherein the performing of raw observation difference between the k-1 and the k epoch includes:
the pseudorange and carrier phase observed quantities of epoch difference are:
wherein, delta represents the difference value of adjacent epochs, P and L respectively represent pseudo range and carrier phase observed quantity, j represents a satellite number, and g takes the value of 1,2,3 and represents the number of a frequency band f;
for the corrected station-to-satellite distance, I 1 Is shown at f 1 The ionospheric delay over a frequency band is,
is the ionospheric coefficient, λ g Is shown at f g Carrier phase wavelength, epsilon, over a frequency band g And xi g Are respectively shown at f g Pseudorange and carrier phase observation noise over the frequency band.
4. The method as claimed in claim 3, wherein the constructing the ionosphere-free EWL combination comprises:
wherein, delta represents the difference value of adjacent epochs,
combining the EWL carrier phase observed quantity without an ionized layer;
the fixation of the EWL cycle slip is realized by a nearby rounding method, and the EWL cycle slip is expressed as follows:
the floating point solution for the EWL cycle slip is:
wherein λ is EWL ＝c/(f 2 -f 3 ) The wavelength of the EWL cycle slip combination, and c is the speed of light;
fixing the EWL cycle slip by adopting a mode of rounding nearby:
wherein round represents rounding nearby; Δ represents the difference of adjacent epochs.
5. The method as claimed in claim 4, wherein the step of constructing the ionosphere-free WL combination based on the fixed EWL cycle slip comprises:
wherein, delta represents the difference value of adjacent epochs,
for the combination of non-ionospheric pseudorange observations,
is a WL carrier phase combination without an ionized layer;
fixing the WL ambiguity through a LAMBDA algorithm by a covariance matrix output by least squares and a floating solution of the WL ambiguity, wherein the WL cycle slip is expressed as:
combined with the EWL cycle slip and the non-ionized layer WL:
and (3) combining the observed quantities of the n satellites, performing weighted least square solution, and obtaining state information as follows:
and a covariance matrix thereof, where (Δ x, Δ y, Δ z) is a three-dimensional position variation, Δ dt is a receiver clock variation,
a WL cycle slip floating point solution;
fixing the WL cycle slip floating point solution and the variance covariance matrix thereof by adopting an LAMBDA method, and checking the optimal solution by adopting a ratio checking method;
wherein Δ represents the difference of adjacent epochs; c is the speed of light;
and
the pseudo-range and carrier-phase observation noise combined at the ionosphere-free WL are shown separately.
6. The method as claimed in claim 5, wherein the creating of the ionosphere-free NL combination comprises:
wherein Δ represents the difference of adjacent epochs;
and
are respectively f 1 、f 2 And f 1 、f 3 The non-ionized layer narrow lane carrier phase combination.
7. The method as claimed in claim 6, wherein the calculating the cycle slip value in each raw observation by using the linear relationship between the EWL, WL and NL cycle slips comprises:
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