CN109799521A - A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS - Google Patents
A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS Download PDFInfo
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Abstract
The present invention provides a kind of tri- subtractive combination cycle-slip detection and repair methods of BDS/GPS, specifically includes the following steps: first constructing tri- subtractive combination cycle slips detection amount of BDS/GPS；Then according to data type, tri- subtractive combination cycle-slip detection and repair of BDS/GPS is carried out using the Detection of Cycle-slip amount in the S1；The data type includes single-frequency data, dual-frequency data and different station spacing data, and the S1 includes tri- subtractive combination data epoch difference of tri- subtractive combination Data Quality Analysis of BDS/GPS and BDS/GPS.The present invention eliminates deviation between satellite clock error, receiver clock error, integer ambiguity and system using three subtractive combinations observation data, has cleared away some error disorders for cycle-slip detection and repair, to greatly improve the efficiency of cycle slip fixing；A function of station spacing identification is increased, cycle-slip detection and repair can be carried out to several different types of data.
Description
Technical field
The present invention relates to technical field of geographic information, and in particular to a kind of tri- subtractive combination cycle-slip detection and repair of BDS/GPS
Method.
Background technique
It is continuously improved as Chinese dipper system is constantly improve with positioning accuracy request, at tri- subtractive combination data of BDS/GPS
The research of reason is also gradually being goed deep into, and the research of tri- subtractive combination data cycle-slip detection and repair of BDS/GPS is then three subtractive combination data
The indispensable step of ambiguity resolution, three subtractive combination data cycle-slip detection and repair abilities decide observation the quality of data to
Also determine the positioning accuracy of calculation result.
Usually used cycle-slip detection and repair method has following several at present: MW LINEAR COMBINATION METHOD, polynomial fitting method,
Filter method, pseudorange phase-group be legal, ionospheric residual method, Higher Difference Method etc..The feelings high in sample rate are proposed by Mader (1986)
Fitting of a polynomial is carried out to the sequence of phase observations data under condition, the fit approach of this method is by phase observations data sequence
Both ends be fitted among sequence, explanation has cycle slip if if two curves fractures or there is the case where not being overlapped, otherwise does not have
Have, this method has the drawback that detectivity can weaken when the sampling interval is larger and this method is also by receiver clock
The factors influence such as difference and atmosphere delay is not suitable for dynamic；Goad (1986) proposes ionospheric residual method, usually alternatively referred to as
Without geometry LINEAR COMBINATION METHOD, Ionosphere Residual Error model is formed using the non-difference data of double frequency on a survey station, in two frequencies
It is poor to make between carrier wave, according to Ionosphere Residual Error variation whether unusual detection cycle slip, the advantages of this method is to the small cycle slip of detection
It is very sensitive, the disadvantage is that being merely able to detect the cycle slip less than surrounding and certain can not be detected due to being influenced by ambiguity
A little specific combinations；Blewitt (1990) is be combined with each other using what MW linear combination and Doad were proposed without geometry LINEAR COMBINATION METHOD
The advantages of proposition TurboEdit method, this method is that the wide lane combination used and ionospheric combination ask difference to eliminate station between epoch
Interstellar distance, ionospheric error, tropospheric delay error and receiver error etc., wavelength is longer, and measurement noise is smaller, can be very
Readily detect small cycle slip, the disadvantage is that if within 16 epoch occur jump or two frequencies on cycle slip value it is equal when,
This Cycle Slips Detection cannot detect cycle slip, and when receiver long period losing lock, this Detection of Cycle-slip mode
It will fail；Collin (1995) proposes that carrier phase observation data are carried out Detection of Cycle-slip and repaired with wavelet transformation theory
It is multiple, Huang Ding hair etc. using the single order of Gauss function, second dervative be wavelet function carry out different observed quantities Detection of Cycle-slip and
The shortcomings that reparation, this method is cannot to carry out effective Detection of Cycle-slip to single poor observation data and non-difference observation data and repair
It is multiple, it can not determine the cycle slip in its specific frequency；Chen Liang etc. proposes a kind of single station single-frequency Detection of Cycle-slip suitable for BDS/GPS
With restorative procedure, this method is compared with suitable for occurring under the more severe observation condition of cycle slip；It is double that the propositions such as Wu Fengbo are based on Beidou
The detecting and repairing of cycle slips algorithm of frequency evidence is tested merely with MEO satellite of this method to BDS；Xin etc. is opened to propose
One kind being based on the improved BDS single-frequency observation cycle-slip detection and repair method of Doppler, and this method detection accuracy can reach 0.1 week；
Zheng Zuoya proposes a kind of Cycle Slips Detection based on a kind of new wavelet function base, which can combine letter
Several filtering and locality；Han Shaowei proposes the phase that can effectively detect greater than 8 weeks cycle slip values and subtracts pseudo-range integration cycle slip
Probe method, but this method reduces its detectivity due to being influenced by code pseudorange accuracy, and when use this method
It needs to use accurate P code, greatly limits application range；Fan Lihong etc., which improves TurboEdit algorithm, makes LG therein
Linear combination difference and combine with MW LINEAR COMBINATION METHOD between epoch twice, this method avoid in TurboEdit when by
Detection of Cycle-slip effect when being affected of ionospheric error is bad cannot to detect the identical cycle slip of two frequencies with MW LINEAR COMBINATION METHOD
Disadvantage accurately and can be detected more thoroughly and repair small cycle slip, but there is also indistinguishable cycle slip and rough errors for this method
The shortcomings that.
Existing various detection modes have the scope of application and deficiency of its own, all cannot accurately detect various
Type cycle slip obtains the observation data of high quality, and these Cycle Slips Detections are not all real just for GPS satellite system
The cycle-slip detection and repair of existing tri- difference fusion of BDS/GPS, the noise of BDS satellite is than GPS satellite in tri- difference fusion of BDS/GPS
Noise it is big, and to consider in fusion error between system, this is but also the fusion of BDS/GPS double star becomes more complicated.
The research for the three difference fusion cycle-slip detection and repair of BDS/GPS double star studied at present there is a problem that GAMIT and Bernese are soft
GPS and BDS data fusion is also not implemented in part, proposes three difference fusion Detection of Cycle-slip of binary-star system not yet based on BDS/GPS satellite
It realizes, and Chinese high-precision frame also needs to solve the problems, such as tri- difference fusion of BDS/GPS, therefore tri- difference fusion cycle slip of BDS/GPS
Detection will be a problem to be solved with reparation.
Summary of the invention
To solve the problems, such as that detection and reparation for cycle slips method is restricted more in the prior art, the invention proposes be suitable for
The cycle-slip detection and repair method of different types of data, using technical solution in detail below:
A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS, comprising the following steps:
S1: construction tri- subtractive combination cycle slips detection amount of BDS/GPS；
S2: according to data type, using the Detection of Cycle-slip amount in the S1 carry out tri- subtractive combination Detection of Cycle-slip of BDS/GPS with
It repairs；
The data type includes single-frequency data, dual-frequency data and different station spacing data, and the S1 includes BDS/GPS tri-
Tri- subtractive combination data epoch difference of subtractive combination Data Quality Analysis and BDS/GPS.
Specifically, the tri- subtractive combination Data Quality Analysis of BDS/GPS the following steps are included:
(1) difference of standing is carried out after importing observation file, then calculating observation segmental arc number；
(2) each segmental arc satellite information is obtained, a reference satellite is then selected in each segmental arc, then carry out inter-satellite
Difference；
(3) between given threshold range check step (2) Satellite after difference data continuity；
(4) meet threshold range and have next segmental arc, then all satellites of the return step (2) into observation file scan through
At；It is unsatisfactory for threshold range, then skips current epoch, after deleting current epoch observation, judges deleting for certain satellite observation
Except whether number is less than specific threshold, if so, the scanning for carrying out next segmental arc calculates, if it is not, then deleting the segmental arc, this is defended
The scanning that next segmental arc is carried out after all observation data of star calculates.
Specifically, in the step (2) reference satellite selection step are as follows:
It calculates O-C value: making the difference to obtain by the priori value of carrier phase observable and input；
Judge whether O-C value is zero in the RMS error of allowed band；
The O-C value is 0 or is infinitely close to zero, and selects the satellite for reference satellite.
Specifically, the initial data in step (1) the observation file are as follows:
Wherein, P1And P2For pseudo range observed quantity, L1And L2For phase observations amount, i and k respectively represent satellite and receiver, I
Ionospheric error and tropospheric error are respectively represented with T, c and δ respectively represent the light velocity and clock error correction value, f1And f2GPS is represented to defend
Two frequencies of star, n indicate that integer ambiguity number, e indicate the distance from satellite to survey station, and λ represents wavelength；
Difference is to be formed to receiver k and receiver l single poor between the station, and formula variation is as follows:
The inter-satellite difference is that double difference is formed to satellite i and j, and formula variation is as follows:
In formula,(e represents satellite to the distance of ground receiver), B1And B2It is that Beidou is defended respectively
Two frequencies of star,The deviation between BDS and the system of GPS satellite system.
Specifically, the tri- subtractive combination data epoch difference of BDS/GPS is to epoch t1And t2Carry out difference, formula variation
It is as follows:
Specifically, the different station spacing data carry out tri- subtractive combination of BDS/GPS using the Detection of Cycle-slip amount in the S1
Cycle-slip detection and repair the following steps are included:
Baseline file is inputted, identifies baseline length；
Judge whether baseline length is greater than 20km；
Baseline length is less than 20km, and using the cycle-slip detection and repair method of single-frequency data, baseline length is greater than 20km, adopts
With the cycle-slip detection and repair method of dual-frequency data.
Specifically, the single-frequency data carry out the spy of tri- subtractive combination cycle slip of BDS/GPS using the Detection of Cycle-slip amount in the S1
It surveys and repairs the cycle-slip detection and repair method for single-frequency data, comprising the following steps:
Calculate the amount L of phase observations after the tri- subtractive combination data epoch difference of BDS/GPS1And L2Cycle slip value b1And b2,
Using following formula:
Wherein r1And r2For the amount L of phase observations1And L2Residual values, using following formula:
Residual values m after calculating correction1And m2, using following formula:
m1=b1λ1-r1
m2=b2λ2-r2；
Threshold value M is setion, by m1And m2With MionIt makes comparisons, if m≤Mion, then m is used1And m2Cycle slip fixing is carried out, otherwise
It is considered as no cycle slip.
Specifically, the dual-frequency data carries out the spy of tri- subtractive combination cycle slip of BDS/GPS using the Detection of Cycle-slip amount in the S1
It surveys and repairs the cycle-slip detection and repair method for dual-frequency data, comprising the following steps:
Step 1: without ionospheric combination L when calculating without cycle slip3Residual values r3, using following formula:
r3=β1r1+β2r2,
In formula,Wherein r1And r2For the amount L of phase observations1And L2Residual values；
Step 2: judge residual values r3Whether meetWhereinσ1And σ2Point
Not Wei phase observations amount L1And L2RMS value；
Step 3: r is calculated1And r2Average value m, using following equation:
Step 4: the maximum change threshold M in ionosphere between setting epochion, judge whether m meets m≤Mion；
Step 5: r in the step 23Meet m in Rule of judgment and the step 4 and meet Rule of judgment, then without week
It jumps；R in the step 23It is unsatisfactory for m in Rule of judgment and/or the step 4 and is unsatisfactory for Rule of judgment, then carry out cycle slip and repair
B is found out again1And b5, solution formula is as follows:
Wherein, b5It is the phase linear combination L of width5Cycle slip value, according to b1And b5Value carries out cycle slip fixing.
The invention has the following advantages:
One, satellite clock error, receiver clock error, integer ambiguity and system are eliminated using three subtractive combinations observation data
Between deviation, some error disorders have been cleared away for cycle-slip detection and repair, to greatly improve the efficiency of cycle slip fixing；
Two, invention increases a functions of station spacing identification, can carry out cycle slip spy to several different types of data
It surveys and repairs.
Detailed description of the invention
Fig. 1 is tri- subtractive combination Data Quality Analysis flow chart of BDS/GPS；
Fig. 2 is different three subtractive combination cycle-slip detection and repair flow charts of station spacing；
Fig. 3 is the Detection of Cycle-slip result of embodiment 1G10 satellite；
Fig. 4 is the Detection of Cycle-slip result of embodiment 1C02 satellite；
Fig. 5 is the Detection of Cycle-slip result of embodiment 1C09 satellite；
Fig. 6 is the Detection of Cycle-slip result of embodiment 1C12 satellite；
Fig. 7 is the reparation result of embodiment 1G10 satellite；
Fig. 8 is the reparation result of embodiment 1G02 satellite；
Fig. 9 is the reparation result of embodiment 1G09 satellite；
Figure 10 is the reparation result of embodiment 1G12 satellite；
Figure 11 is the Detection of Cycle-slip result of four satellites in embodiment 2；
Figure 12 is the reparation result of four satellites in embodiment 2.
Specific embodiment
Following embodiment is used stands positioned at the station 9 CORS of Australia and 4 IGS on periphery, this 13 stations can connect
Receive GPS and BDS system data, the data processing period is totally 7 day data on January 8,2 days to 2016 January in 2016.
A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS, comprising the following steps:
S1: construction tri- subtractive combination cycle slips detection amount of BDS/GPS；
S2: according to data type, using the Detection of Cycle-slip amount in the S1 carry out tri- subtractive combination Detection of Cycle-slip of BDS/GPS with
It repairs；
The data type includes single-frequency data, dual-frequency data and different station spacing data, and the S1 includes BDS/GPS tri-
Tri- subtractive combination data epoch difference of subtractive combination Data Quality Analysis and BDS/GPS.
Tri- subtractive combination cycle slip inspected number of BDS/GPS is to utilize difference is formed between difference and epoch between difference, star between station three
Data are observed in subtractive combination, are changed over time rule without ionosphere linear combination to tri- subtractive combination of BDS/GPS observation data and are divided
Analysis.
The purpose of tri- subtractive combination Data Quality Analysis of BDS/GPS is to scan the observation not destroyed by cycle slip largely
Value, provides preparation for tri- subtractive combination cycle-slip detection and repair of BDS/GPS below, comprising the following steps:
(1) difference of standing is carried out after importing observation file, is then divided according to every 400 epoch, one segmental arc, is counted
Calculate observation segmental arc number；
(2) each segmental arc satellite information is obtained, a reference satellite is then selected in each segmental arc, can be prevented in this way
To ensure that all observations of this satellite are all good when only using a satellite as reference satellite, then carry out inter-satellite difference,
Made the difference by the priori value of carrier phase observable and input and calculate O-C value, and check O-C value whether be the time smooth function
Value and they whether can be calculated in the time interval of a few minutes by lower order polynomial expressions, and pass through inspection
Whether this O-C value is zero in the RMS error of allowed band, if it is 0 or is infinitely close to zero, and the satellite is selected to defend for reference
Star, the selection of reference satellite can only be GPS satellite in the algorithm；
(3) an interruption grade of the differentiated O-C value of an inter-satellite is set, and the threshold size of this interval grade is
0.013m, the continuity for data after difference between checking step (2) Satellite；
(4) if meeting threshold, epoch is scanned one by one, if do not meet the threshold, to current
The last one observation label at epoch interval gets up and continues to scan on since next epoch.If current time interval mistake
Length has been more than maximum specified time span, then the observation of present interval is reduced to specified maximum length and seen again to this section
Measured value is scanned, and restore before error flag observation, until observation file in all satellites all scan through
At.If during the scanning process, a certain satellite has more than specific threshold, then this satellite observation is problematic, then comes from this
All observations of one satellite all will not all use labeled and this satellite all observations.
Initial data in step (1) the observation file are as follows:
Wherein, P1And P2For pseudo range observed quantity, L1And L2For phase observations amount, i and k respectively represent satellite and receiver, I
Ionospheric error and tropospheric error are respectively represented with T, c and δ respectively represent the light velocity and clock error correction number, f1And f2GPS is represented to defend
Two frequencies of star, n indicate that integer ambiguity number, e indicate the distance from satellite to survey station, and λ represents wavelength, if it is Beidou
The satellite then f in above-mentioned formula1And f2Become the frequency B of big-dipper satellite1And B2；
Difference is that single poor, satellite clock error concealment at this time is formed to receiver k and receiver l between the station, formula variation
It is as follows:
The inter-satellite difference is that double difference is formed to satellite i and j, receiver clock error concealment at this time, and formula variation is as follows:
In formula,(e represents satellite to the distance of ground receiver), B1And B2It is that Beidou is defended respectively
Two frequencies of star,The deviation between BDS and the system of GPS satellite system carries out three differences then if it is same system satelliteWhen different satellite systems,Value is not 0.
Difference and inter-satellite difference between being stood during BDS/GPS Data Quality Analysis, it is next this
What one step carried out is the difference and difference generates three difference BDS/GPS combination sight between carrying out epoch on the basis of inter-satellite difference between station
Measured value, although this epoch difference result is accurate not as good as least square adjustment result in final argument estimation, this
As a result very close final result.Carry out epoch between difference generate three difference observation data have an advantage, if be exactly
There are cycle slip at some epoch, this cycle slip also only destroys an epoch difference observation, rather than destroys after cycle slip
All non-differences or three poor observations.Therefore, three difference BDS/GPS combination observation data can be used for the reference of automatic Detection of Cycle-slip
Value.The tri- subtractive combination data epoch difference of BDS/GPS is to epoch t1And t2Difference is carried out, integer ambiguity and is herein
Deviation is eliminated between system, and usually troposphere will not change immediately in a short time, so here also eliminate tropospheric error, it is public
Formula variation is as follows:
Difference between priori coordinate and the new value calculated using three differences represents the accuracy of epoch difference.Epoch difference
As a result RMS error should not exceed 2cm.Illustrate if RMS value is higher:
Situation one: input data error is inconsistent (such as satellite orbit)；
Situation two: the data problem (all observations of label time interval) in observation file；
Situation three: the threshold value of input is incorrect.
The difference station spacing data carry out tri- subtractive combination Detection of Cycle-slip of BDS/GPS using the Detection of Cycle-slip amount in the S1
With repair the following steps are included:
Baseline file is inputted, identifies baseline length；
Judge whether baseline length is greater than 20km；
Baseline length is less than 20km, using the cycle-slip detection and repair method (BOTH mode) of single-frequency data, baseline length
Greater than 20km, using the cycle-slip detection and repair method (COMBINED mode) of dual-frequency data.
The length for the long distance baselines being made of a station CORS and the station IGS is 357km, selects COMBINDE mode, with
The reference satellite that lower four kinds of satellites do satellite difference is G06, the COMBINED mode the following steps are included:
Step 1: without ionospheric combination L when calculating without cycle slip3Residual values r3, using following formula:
r3=β1r1+β2r2,
In formula,Wherein r1And r2For the amount L of phase observations1And L2Residual values；
Step 2: judge residual values r3Whether meetWhereinσ1And σ2Point
Not Wei phase observations amount L1And L2RMS value；
Step 3: r is calculated1And r2Average value m, using following equation:
Step 4: the maximum change threshold M in ionosphere between setting epochion, judge whether m meets m≤Mion；
Step 5: r in the step 23Meet m in Rule of judgment and the step 4 and meet Rule of judgment, then without week
It jumps；R in the step 23It is unsatisfactory for m in Rule of judgment and/or the step 4 and is unsatisfactory for Rule of judgment, then carry out cycle slip and repair
B is found out again1And b5, solution formula is as follows:
Wherein, b5It is the phase linear combination L of width5Cycle slip value, according to b1And b5Value carries out cycle slip fixing.
G10, C02, C09 and C12 this four satellite Detection of Cycle-slip results such as Fig. 3-Fig. 6, four kinds of specific detection results of satellite
It is as shown in table 1:
Table 1
Cycle slip fixing result such as Fig. 7-Figure 10 of this four satellite segmental arcs of G10, C02, C09 and C12.
The length of the short distance baseline of two CORS composition is 357.9m, selects BOTH mode, and following four satellite is defended
The reference satellite of star difference is G05 satellite, G10, C02, C09 and C12 Detection of Cycle-slip position are as follows: G10 cycle slip is located at carrier wave L2
Above, C02 cycle slip is located on carrier wave B1, C09 cycle slip is located on carrier wave B2 and C12 cycle slip is located on carrier wave B1, the BOTH mode
The following steps are included:
Calculate the amount L of phase observations after the tri- subtractive combination data epoch difference of BDS/GPS1And L2Cycle slip value b1And b2,
Using following formula:
Wherein r1And r2For the amount L of phase observations1And L2Residual values, using following formula:
Residual values m after calculating correction1And m2, using following formula:
m1=b1λ1-r1
m2=b2λ2-r2；
Threshold value M is setion, by m1And m2With MionIt makes comparisons, if m≤Mion, then m is used1And m2Cycle slip fixing is carried out, otherwise
It is considered as no cycle slip.
G10, C02, C09 and C12 this four satellite Detection of Cycle-slip results such as Figure 11, specific Detection of Cycle-slip value such as the following table 2
Table 2
The cycle slip fixing situation of this four satellite segmental arcs of G10, C02, C09 and C12 is as shown in figure 12.
By above eight groups of experiments it can be concluded that AUTO cycle-slip detection and repair method can effectively to integrate single-frequency three poor
Combine cycle-slip detection and repair algorithm and three subtractive combination cycle-slip detection and repair algorithm of double frequency, using associative mode detection limit with
Threshold value, which carries out judgement, accurately can detect and repair various types cycle slip.
Claims (10)
1. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS, specifically includes the following steps:
S1: construction tri- subtractive combination cycle slips detection amount of BDS/GPS；
S2: it according to data type, carries out tri- subtractive combination Detection of Cycle-slip of BDS/GPS using the Detection of Cycle-slip amount in the S1 and repairs
It is multiple；
The data type includes single-frequency data, dual-frequency data and different station spacing data, and the S1 includes the poor group of BDS/GPS tri-
Close Data Quality Analysis and tri- subtractive combination data epoch difference of BDS/GPS.
2. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 1, which is characterized in that institute
State tri- subtractive combination Data Quality Analysis of BDS/GPS the following steps are included:
(1) difference of standing is carried out after importing observation file, then calculating observation segmental arc number；
(2) each segmental arc satellite information is obtained, a reference satellite is then selected in each segmental arc, then to carry out inter-satellite poor
Point；
(3) between given threshold range check step (2) Satellite after difference data continuity；
(4) meet threshold range and have next segmental arc, then all satellites of the return step (2) into observation file, which scan, completes.
3. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 2, which is characterized in that institute
Stating in step (4) further includes being unsatisfactory for threshold range, then skips current epoch, after deleting current epoch observation, judges certain
Whether the deletion number of satellite observation is less than specific threshold, if so, the scanning for carrying out next segmental arc calculates, if it is not, then deleting
Except the scanning for carrying out next segmental arc after all observation data of this satellite of the segmental arc calculates.
4. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 2, which is characterized in that institute
State the initial data in observation file are as follows:
Wherein, P1And P2For pseudo range observed quantity, L1And L2For phase observations amount, i and k respectively represent satellite and receiver, and I and T divide
Ionospheric error and tropospheric error are not represented, and c and δ respectively represent the light velocity and clock error correction number, f1And f2Represent GPS satellite
Two frequencies, n indicate that integer ambiguity number, e indicate the distance from satellite to survey station, and λ represents wavelength；
Difference is to be formed to receiver k and receiver l single poor between the station, and formula variation is as follows:
The inter-satellite difference is that double difference is formed to satellite i and j, and formula variation is as follows:
In formula,(e represents satellite to the distance of ground receiver), B1And B2It is big-dipper satellite respectively
Two frequencies,The deviation between BDS and the system of GPS satellite system.
5. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 4, which is characterized in that institute
Stating tri- subtractive combination data epoch difference of BDS/GPS is to epoch t1And t2Difference is carried out, formula variation is as follows:
6. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 5, which is characterized in that institute
Different station spacing data, which are stated, using the Detection of Cycle-slip amount progress tri- subtractive combination cycle-slip detection and repair of BDS/GPS in the S1 includes
Following steps:
Baseline file is inputted, identifies baseline length；
Judge whether baseline length is greater than 20km；
Baseline length is less than 20km, and using the cycle-slip detection and repair method of single-frequency data, baseline length is greater than 20km, using double
The cycle-slip detection and repair method of frequency evidence.
7. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 5, which is characterized in that institute
Stating single-frequency data and carrying out tri- subtractive combination cycle-slip detection and repair of BDS/GPS using the Detection of Cycle-slip amount in the S1 is single-frequency data
Cycle-slip detection and repair method, comprising the following steps:
Calculate the amount L of phase observations after the tri- subtractive combination data epoch difference of BDS/GPS1And L2Cycle slip value b1And b2, use
Following formula:
Wherein r1And r2For the amount L of phase observations1And L2Residual values, using following formula:
Residual values m after calculating correction1And m2, using following formula:
m1=b1λ1-r1
m2=b2λ2-r2；
Threshold value M is setion, by m1And m2With MionIt makes comparisons, if m≤Mion, then m is used1And m2Cycle slip fixing is carried out, is otherwise considered as
There is no cycle slip.
8. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 5, which is characterized in that institute
Stating dual-frequency data and carrying out tri- subtractive combination cycle-slip detection and repair of BDS/GPS using the Detection of Cycle-slip amount in the S1 is dual-frequency data
Cycle-slip detection and repair method, comprising the following steps:
Step 1: without ionospheric combination L when calculating without cycle slip3Residual values r3, using following formula:
r3=β1r1+β2r2,
In formula,Wherein r1And r2For the amount L of phase observations1And L2Residual values；
Step 2: judge residual values r3Whether meetWhereinσ1And σ2Respectively
The amount L of phase observations1And L2RMS value；
Step 3: r is calculated1And r2Average value m, using following equation:
Step 4: the maximum change threshold M in ionosphere between setting epochion, judge whether m meets m≤Mion；
Step 5: r in the step 23Meet m in Rule of judgment and the step 4 and meet Rule of judgment, then without cycle slip.
9. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 8, which is characterized in that institute
Stating in step 5 further includes r in the step 23It is unsatisfactory for m in Rule of judgment and/or the step 4 and is unsatisfactory for Rule of judgment,
It then carries out cycle slip fixing and finds out b1And b5, solution formula is as follows:
Wherein, b5It is the phase linear combination L of width5Cycle slip value, according to b1And b5Value carries out cycle slip fixing.
10. a kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS according to claim 2, which is characterized in that institute
State the selection step of reference satellite in step (2) are as follows:
It calculates O-C value: making the difference to obtain by the priori value of carrier phase observable and input；
Judge whether O-C value is zero in the RMS error of allowed band；
The O-C value is 0 or is infinitely close to zero, and selects the satellite for reference satellite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910195380.1A CN109799521A (en) | 2019-03-14 | 2019-03-14 | A kind of tri- subtractive combination cycle-slip detection and repair method of BDS/GPS |
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| CN112242866A (en) * | 2020-10-15 | 2021-01-19 | 中国科学院微小卫星创新研究院 | Beidou satellite clock autonomous health management system based on inter-satellite link unidirectional measurement |
| CN112346093A (en) * | 2020-10-27 | 2021-02-09 | 合肥工业大学 | Method for repairing BDS cycle slip |
| CN112394376A (en) * | 2020-11-20 | 2021-02-23 | 中国人民解放军战略支援部队信息工程大学 | Non-differential network parallel processing method for large-scale GNSS network observation data |
| CN112505733A (en) * | 2020-12-07 | 2021-03-16 | 北京理工雷科电子信息技术有限公司 | Joint cycle slip detection method suitable for dynamic orientation of double antennas |
| CN112558110A (en) * | 2020-11-26 | 2021-03-26 | 广东星舆科技有限公司 | Reference station data cycle slip detection method, computer medium and device |
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| CN114814907A (en) * | 2022-04-07 | 2022-07-29 | 山东大学 | Beidou double-frequency cycle slip detection and restoration method based on arc segment division |
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| CN112346093A (en) * | 2020-10-27 | 2021-02-09 | 合肥工业大学 | Method for repairing BDS cycle slip |
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| CN112558110A (en) * | 2020-11-26 | 2021-03-26 | 广东星舆科技有限公司 | Reference station data cycle slip detection method, computer medium and device |
| CN112505733B (en) * | 2020-12-07 | 2023-08-11 | 北京理工雷科电子信息技术有限公司 | Combined cycle slip detection method suitable for dynamic orientation of double antennas |
| CN112505733A (en) * | 2020-12-07 | 2021-03-16 | 北京理工雷科电子信息技术有限公司 | Joint cycle slip detection method suitable for dynamic orientation of double antennas |
| 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 |
| CN114814907A (en) * | 2022-04-07 | 2022-07-29 | 山东大学 | Beidou double-frequency cycle slip detection and restoration method based on arc segment division |
| WO2023197487A1 (en) * | 2022-04-13 | 2023-10-19 | 上海海积信息科技股份有限公司 | Cycle slip detection method applied to global navigation satellite system (gnss) and cycle slip repair method applied to gnss |
| CN116953741A (en) * | 2022-04-13 | 2023-10-27 | 上海海积信息科技股份有限公司 | Cycle slip detection and repair method applied to global navigation satellite system GNSS |
| CN116953741B (en) * | 2022-04-13 | 2024-04-02 | 上海海积信息科技股份有限公司 | Cycle slip detection and repair method applied to global navigation satellite system GNSS |
| CN116106953A (en) * | 2023-04-14 | 2023-05-12 | 中南大学 | Time differential carrier phase enhancement method for GNSS relative positioning semi-parameter estimation |
| CN117452463A (en) * | 2023-12-22 | 2024-01-26 | 开普勒卫星科技(武汉)有限公司 | Cycle slip detection and repair method suitable for single-frequency terminal in complex environment |
| CN117452463B (en) * | 2023-12-22 | 2024-05-14 | 开普勒卫星科技(武汉)有限公司 | Cycle slip detection and repair method suitable for single-frequency terminal in complex environment |
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