CN112415547B

CN112415547B - Cycle slip calculation method and device for satellite signals

Info

Publication number: CN112415547B
Application number: CN201910769025.0A
Authority: CN
Inventors: 陈猛; 王平; 戴东海; 韩宗凯; 杨东森
Original assignee: Beijing Liufen Technology Co ltd
Current assignee: Beijing Liufen Technology Co ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2024-04-30
Anticipated expiration: 2039-08-20
Also published as: CN112415547A

Abstract

The invention provides a cycle slip calculation method and device for satellite signals, wherein the method comprises the following steps: determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier between a first moment and a second moment corresponding to adjacent epochs of a signal of a target satellite; and determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values. The cycle slip calculation method and device for the satellite signals can improve the precision of cycle slip calculation of the satellite signals, and further improve the precision of repairing the cycle slips in the later period.

Description

Cycle slip calculation method and device for satellite signals

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a method and an apparatus for computing cycle slip of a satellite signal.

Background

At present, with the rapid development of satellite application technology, various satellites play an increasing role in scientific practice, and the requirements of users on the precision and instantaneity of satellite signal processing are higher and higher. In the real-time data processing technology of satellite signals, the carrier phase of the satellite signals needs to be observed, so that the satellite signals are subjected to subsequent processing according to the carrier phase. Cycle slip refers to a jump or interruption of the whole cycle count due to loss of lock of a satellite signal when observing the satellite signal, and how to correctly detect and recover cycle slip is one of the very important and necessary problems in carrier phase measurement of the satellite signal.

In the prior art, a research method for cycle slip detection and calculation of satellite signals comprises the following steps: ionospheric residual methods, higher order difference methods, MW combination methods, polynomial fitting methods, etc., but most of these methods have certain limitations such as: the ionized layer residual error method has the problems of multiple value and the like for cycle slip of more than 4 weeks, wherein the cycle slip value cannot be uniquely determined; the high-order difference method depends on a large amount of historical data, cannot lock the accurate position where cycle slip occurs, and is mainly used for post-processing; the MW combination method uses code pseudo-range observation values, has low precision and can not detect the equivalent cycle slip of double frequencies; the polynomial fitting method is affected by polynomial order and fitting precision and receiver clock-skip, algorithm precision is low, and minute-skip and cycle-skip cannot be distinguished.

Therefore, how to improve the accuracy of cycle slip calculation of satellite signals so as to improve the processing accuracy when repairing the cycle slip of the satellite signals in the later stage is a technical problem to be solved in the field.

Disclosure of Invention

The invention provides a cycle slip calculation method and a cycle slip calculation device for satellite signals, which are used for improving the precision of cycle slip calculation for the satellite signals, so that when the cycle slip is repaired in the later period, the phase of the satellite signals can be compensated at a more accurate cycle slip occurrence position, and the precision of cycle slip repair for the satellite signals is further improved.

The first aspect of the present invention provides a cycle slip calculation method for satellite signals, including:

Determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier between a first moment and a second moment corresponding to adjacent epochs of a signal of a target satellite;

and determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values.

In a first embodiment of the first aspect of the present invention, the method further comprises:

Determining a third cycle slip value corresponding to the signal of the target satellite at the second moment according to a GF (glass fiber) method;

Determining a fourth round trip value corresponding to the signal of the target satellite at the second moment according to the MW method;

And determining a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier between the first time and the second time according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value.

A second aspect of the present invention provides a cycle slip calculation apparatus for satellite signals, including:

The determining module is used for determining the difference between the first multipath value corresponding to the first carrier and the second multipath value corresponding to the second carrier between the first moment and the second moment corresponding to the adjacent epoch of the signal of the target satellite;

and the first calculation module is used for determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values.

In an embodiment of the second aspect of the present invention, the apparatus further includes:

the second calculation module is used for determining a third cycle slip value corresponding to the signal of the target satellite at the second moment according to the geometric distance-free combination GF method;

the third calculation module is used for determining a fourth round trip value corresponding to the signal of the target satellite at the second moment according to the wide lane phase narrowing lane pseudo-range MW method;

and the repair module is used for determining a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier between the first time and the second time according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value.

A third aspect of the invention provides a storage medium storing a computer program which, when run on a computer, causes the computer to perform the method of the preceding first aspect.

In summary, the present invention provides a method and an apparatus for calculating cycle slip of a satellite signal, where the method includes: determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier between a first moment and a second moment corresponding to adjacent epochs of a signal of a target satellite; and determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values. The cycle slip calculation method and device for the satellite signals can improve the precision of cycle slip calculation of the satellite signals, and further improve the precision of repairing the cycle slips in the later period.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic diagram of a satellite positioning system to which the present invention is applied;

FIG. 2 is a schematic diagram of a cycle slip of a satellite signal;

FIG. 3 is a flowchart illustrating an embodiment of a cycle slip calculation method for satellite signals according to the present invention;

FIG. 4 is a schematic diagram of the multipath effects of a satellite signal;

FIG. 5 is a graph showing multipath values of experimental data prior to addition of cycle slips;

FIG. 6 is a graph showing multipath values of experimental data after addition of cycle slip;

fig. 7 is a flowchart of another embodiment of a cycle slip calculation method for satellite signals according to the present invention;

FIG. 8 is a graph showing GF values of experimental data prior to addition of cycle slips;

FIG. 9 is a graph showing GF values of experimental data after addition of cycle slip;

FIG. 10 is a graph showing MW values of experimental data prior to addition of cycle slip;

FIG. 11 is a graph showing MW of experimental data after addition of cycle slip;

fig. 12 is a schematic structural diagram of an embodiment of a cycle slip calculation device for satellite signals according to the present application;

Fig. 13 is a schematic structural diagram of an embodiment of a cycle slip calculation device for satellite signals according to the present application.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic diagram of a satellite positioning system to which the present invention is applied. The application scenario shown in fig. 1 may be a global navigation satellite system (Global Navigation STATELLITE SYSTEM, abbreviated as GNSS) that includes a plurality of satellites orbiting the earth R and that collectively provide positioning services for terminal devices located on the surface of the earth R via one or more satellites. The terminal equipment A positioned on the ground surface can determine positioning data such as longitude and latitude data, elevation data and the like of the terminal equipment A after receiving positioning signals of a plurality of satellites on the orbit. For example, in the embodiment shown in fig. 1, taking as an example a satellite B orbiting the earth, terminal device a is able to receive positioning signals transmitted by satellite B, which can be used by terminal device a to determine its positioning data. In some satellite positioning systems, the terminal device may receive positioning signals sent by three satellites at a certain moment, and then determine, according to the received three positioning signals, positioning data of a position of the terminal device at the moment.

Optionally, the GNSS shown in fig. 1 includes: the terminal device a shown in fig. 1 may also be called a terminal (terminal) as well as a GPS system, a Glonass system, a Galileo system, a beidou satellite navigation system, etc. The terminal device may be a User Equipment (UE), a Mobile Station (MS), a mobile terminal device (MT), or the like, or a mobile phone (mobile phone), a tablet (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an augmented reality (augmented reality, AR) terminal device, a wireless terminal device in industrial control (industrial control), a wireless terminal device in unmanned (SELF DRIVING), a wireless terminal device in teleoperation (remote medical surgery), a wireless terminal device in smart grid (SMART GRID), a wireless terminal device in transportation security (transportation safety), a wireless terminal device in smart city (SMART CITY), a wireless terminal device in smart home (smart home), or the like.

With the rapid development of satellite application technology, more and more terminal devices on the earth's R surface can use positioning services provided by satellites in a satellite positioning system, and the satellite positioning system plays an increasing role in scientific practice. With the increasing demands of various terminal devices for satellite signal processing precision and real-time performance, in an application scenario as shown in fig. 1, the terminal device must observe the carrier phase of a received satellite signal when receiving a signal sent by any satellite, so as to prevent the carrier phase jump of the satellite signal caused by cycle slip from affecting the precision of the terminal device when carrying out subsequent processing on the satellite signal.

The cycle slip refers to a jump or interruption of the whole cycle count caused by the unlocking of the satellite signal when the satellite signal is observed, and how to correctly detect and recover the cycle slip is one of the very important and necessary problems in the carrier phase measurement of the satellite signal. For example, fig. 2 is a schematic diagram of cycle slip of a satellite signal, as shown in fig. 2, in a time range t where a terminal device observes a carrier phase of the satellite signal, the terminal device keeps continuously tracking the satellite signal through a receiver, and a whole cycle count Int of the satellite signal is kept unchanged under the condition that a whole cycle ambiguity is kept unchangedIt should also remain continuous. However, the receiver of the terminal device cannot keep continuous tracking of the satellite signal at time t0, and the phase/>, of the satellite signal before and after time t0 after the receiver re-detects and locks the satellite signalWill change, the whole cycle count Int of satellite signalAnd the phase jump phenomenon is called whole cycle jump, and is called cycle jump for short. Common causes for the receiver of the terminal device to detect a satellite signal cycle slip are: the satellite signal is shielded by obstacles such as trees, buildings and the like, ionospheric interference, satellite low altitude angle, receiver processing software faults and satellite oscillator fault lamps.

In order to observe cycle slip of a satellite signal, a research method for cycle slip detection and calculation of the satellite signal in the prior art includes: ionospheric residual methods, higher order difference methods, MW combination methods, polynomial fitting methods, etc., but most of these methods have certain limitations such as: the ionized layer residual error method has the problems of multiple value and the like for cycle slip of more than 4 weeks, wherein the cycle slip value cannot be uniquely determined; the high-order difference method depends on a large amount of historical data, cannot lock the accurate position where cycle slip occurs, and is mainly used for post-processing; the MW combination method uses code pseudo-range observation values, has low precision and can not detect the equivalent cycle slip of double frequencies; the polynomial fitting method is affected by polynomial order and fitting precision and receiver clock-skip, algorithm precision is low, and minute-skip and cycle-skip cannot be distinguished.

Therefore, the method for calculating the cycle slip of the satellite signal by the multipath jump method aims at the multipath effect of the satellite signal, residual cycle slip detection quantity and a small amount of noise can be obtained after the multipath of the satellite signal is differentiated by the multipath effect with larger correlation in a short time, and further, the cycle slip value of the satellite signal can be calculated more accurately through the difference of the multipath values of the satellite, so that the cycle slip calculation accuracy of the satellite signal is improved, and when the cycle slip of the satellite signal is repaired in the later stage, the phase jump of the satellite signal can be compensated at a more accurate cycle slip sounding position, and the cycle slip repair accuracy of the satellite signal is further improved.

The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

Specifically, fig. 3 is a flow chart of an embodiment of a cycle slip calculation method for satellite signals according to the present invention, as shown in fig. 3, the cycle slip calculation method for satellite signals according to the present invention includes:

s101: and determining the difference between the first multipath value corresponding to the first carrier and the second multipath value corresponding to the second carrier between the first time and the second time corresponding to the adjacent epoch of the signal of the target satellite.

S102: and determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values.

Specifically, the execution body of the cycle slip calculation method of the satellite signal in this embodiment may be a terminal device a in the system shown in fig. 1, and after the receiver set in the terminal device a receives the signal sent by the target satellite in the satellite positioning system, the signal of the target satellite is continuously tracked and detected to calculate the cycle slip value of the signal of the target satellite received by the terminal device a.

In this embodiment, each satellite in the satellite positioning system simultaneously transmits a signal for positioning through two different carriers, so as to meet the requirement of the terminal device on higher navigation positioning performance. For example, taking a satellite positioning system as a GPS, each satellite in the GPS system transmits a positioning signal through a first carrier and a second carrier, where the first carrier has a center frequency of 1575.42±1.023MHz for transmitting C/a codes, P codes and navigation messages, and the second carrier has a center frequency of 1227.6±1.023MHz for transmitting P codes and navigation messages.

In S101, the terminal device first determines the difference between multipath values corresponding to two carriers of the target satellite signal between adjacent epochs. The multipath value refers to a plurality of satellite signals received by a receiver of the terminal device after the satellite signals are reflected by the obstacle. For example, fig. 4 is a schematic diagram of multipath effect of a satellite signal, as shown in fig. 4, when the terminal device a receives a signal sent by the satellite B, the terminal device a may receive the signal sent by the satellite B through a direct path D1, and at the same time, the terminal device a may also receive the signal sent by the satellite B through an indirect path D2, where the path D2 is a signal after the signal sent by the satellite B is reflected by a building. Although the signals transmitted by the satellite B through the path D1 and the path D2 are the same, the amplitude, polarization, phase and the like of the signal are changed after the signal received by the terminal device through the path D2 is reflected by the object, and the satellite signal received by the terminal device a through the path D2 also generates superposition and interference to the signal received by the terminal device a through the path D1. Such a phenomenon that the terminal device receives signals transmitted from the satellite through different paths is called a multipath effect, and a multipath value refers to a relative distance value between the terminal device a and the satellite B obtained by the terminal device a through signals commonly received by the paths D1 and D2. For example, the true distance between the terminal device a and the satellite B is 10km, and the relative distance between the signal transmitted by the satellite B to the terminal device a after the signal transmitted by the satellite B to the terminal device a is reflected by the building is 11km, where the relative distance is a multipath value of the satellite signal, where the multipath value is obtained by the signal received by the terminal device a through the path D1 and the path D2. It will be understood that, as shown in fig. 4, the terminal device a receives the signal sent by the satellite B through two paths, and the terminal device a may also receive the signal of the satellite B through multiple paths, where the relative distance between the signals obtained by the combined action of all the path signals is the multipath value.

In a specific implementation manner, the embodiment also provides a multipath value representation manner, wherein the correlation is larger in a short time based on the multipath value. For example, in the example shown in fig. 4, terminal device a receives the signal transmitted by satellite B through paths D1 and D2 after receiving the signal transmitted by satellite B through paths D1 and D2 for a short time (1 epoch). Therefore, if the terminal device a subtracts the received two signals, the influence of the multipath value on the signals can be counteracted.

More specifically, the multipath value of the satellite signal received by the terminal device can be expressed by the following equations 1 and 2:

Wherein M ₁ is the multipath value (unit: M) corresponding to the first carrier, P ₁ is the code pseudo-range observation value (unit: M) corresponding to the first carrier, L ₁ is the carrier phase observation value (unit: M) corresponding to the first carrier, For the double ionospheric delay value (in meters) corresponding to the first carrier,The double ionospheric delay value (unit: m) corresponding to the second carrier, f ₁ is the frequency of the first carrier, f ₂ is the frequency of the first carrier, N ₁ is the integer ambiguity (unit: circumference) corresponding to the first carrier, and C is the speed of light.

Wherein M ₂ is the multipath value (unit: M) corresponding to the second carrier, P ₂ is the code pseudo-range observation value (unit: M) corresponding to the second carrier, L ₂ is the carrier phase observation value (unit: M) corresponding to the second carrier,For the double ionospheric delay value (in meters) corresponding to the first carrier,The double ionospheric delay value (unit: m) corresponding to the second carrier is f ₁, f ₂, N ₂, and C is the light velocity.

For ease of calculation, based on actual carrier phase observations detected by the terminal device(Units: weeks), carrier phase observations L (units: meters) and carrier wavelength λ: /(I)Equation 1 above may be converted to equation 3 and equation 2 to equation 4:

Wherein, For the carrier phase observations (unit: week) corresponding to the first carrier,As the carrier phase observation value (unit: circumference) corresponding to the second carrier, λ ₁ is the wavelength of the first carrier, and λ ₂ is the wavelength of the second carrier.

Due to the parameter P ₁、P₂ in equation 3 and equation 4,Lambda ₁ and lambda ₂ are available at the receiver of the terminal device when the satellite signals are received and can be given as known quantities in the formula. The terminal device can calculate the multipath values at different moments according to the parameters at different moments, and then subtract the multipath values at different moments to obtain the difference of the multipath values. Specifically, the terminal device may calculate the difference Δm ₁ between the first multipath value through the multipath value corresponding to the first carrier at the second time and the multipath value corresponding to the first carrier at the first time, and calculate the difference Δm ₂ between the second multipath value through the multipath value corresponding to the second carrier at the second time and the multipath value corresponding to the second carrier at the first time. Wherein the first time and the second time are two adjacent epochs of the satellite signal, and the first time is earlier than the second time.

For example, the parameters corresponding to the first carrier among the parameters of the satellite signals received by the terminal device at the first time include P ₁₁,And lambda ₁₁, and marking the calculation result after substituting into the formula 3 as M ₁₁; among the parameters of the satellite signals received by the terminal equipment at the second moment, the parameters corresponding to the first carrier wave comprise P ₁₂,And lambda ₁₂, the calculation result after substituting in equation 3 is denoted as M ₁₂. Then, the difference between the multipath values corresponding to the first carrier in the satellite signal between the second time and the first time is calculated by the formula ΔM ₁＝M₁₂-M₁₁.

Meanwhile, in the parameters of the satellite signals received by the terminal equipment at the first moment, the parameters corresponding to the second carrier wave comprise P ₂₁,And lambda ₂₁, and marking the calculation result after substituting into the formula 3 as M ₂₁; among the parameters of the satellite signals received by the terminal equipment at the second moment, the parameters corresponding to the second carrier wave comprise P ₂₂,And lambda ₂₂, the calculation result after substituting in equation 3 is denoted as M ₂₂. Then, the difference between the multipath values corresponding to the second carrier in the satellite signal between the second time and the first time is calculated by the formula ΔM ₂＝M₂₂-M₂₁.

Further, for the difference Δm ₁ of the first multipath values, it can be expressed as the following equation 5 by equation 3:

And for the second multipath value difference Δm ₂, the following equation 6 can be expressed by equation 4:

After the formula 5 and the formula 6 are combined, a first cycle slip value Δn ₁ corresponding to the first carrier can be calculated by the formula 7, and a second cycle slip value Δn ₂ corresponding to the second carrier can be calculated by the formula 8:

Wherein, Lambda ₁ is the wavelength of the first carrier, lambda ₂ is the wavelength of the second carrier, delta M ₁ is the difference between the first multipath values, delta M ₂ is the difference between the second multipath values.

The first cycle slip value corresponding to the first carrier and the second cycle slip value corresponding to the second carrier of the satellite signal are calculated using the formulas in the above embodiments with specific test data.

First, specific test data uses a dual-frequency receiver, which receives carriers of two frequencies in satellite signals of a target satellite in a GNSS system in a period of one hour, and observes phase observations of the two carriers, and pseudorange observations. Taking a target satellite as a satellite of G08 in the GPS system as an example, the carrier wavelength of the target satellite signal is known, the wavelength of the first carrier is 0.190293 meters, the wavelength of the second carrier is 0.244210 meters, and each second in an hour is recorded as one epoch of the satellite signal, then in experimental data of 3600 epochs are received in the time of one hour, one epoch is randomly taken every 300 epochs as an example and is shown in table 1.

TABLE 1

Subsequently, for calculation detection of cycle slips, cycle slips were added to the raw experimental data shown in table 1 for subsequent calculation, wherein the randomly added cycle slip values are shown in table 2.

TABLE 2

Sequence number	Time of	Calendar element	Cycle slip added to L1	Cycle slip added to L2
					1	0.08333	300	18	14
2	0.16667	600	-18	-14
					3	0.25000	900	9	7
4	0.33333	1200	-9	-7
					5	0.41667	1500	5	1
6	0.50000	1800	4	1
					7	0.58333	2100	3	1
8	0.66667	2400	2	1
					9	0.75000	2700	1	1
10	0.83333	3000	1	0
					11	0.91667	3300	0	1

When the cycle slip value shown in table 2 was added to the raw data shown in table 1, the obtained data including cycle slip is shown in table 3.

TABLE 3 Table 3

Wherein, the schematic diagram of M ₁、M₂、△M₁ and DeltaM ₂ calculated after substituting the data in Table 1 into formulas 3-8 can be referred to in FIG. 5. As can be seen from a comparison of fig. 5 and 6, the data in table 3 are substituted into the formulae 3 to 8 to calculate M ₁、M₂、△M₁ and Δm ₂, and the added cycle slip causes a significant abrupt change in the epoch corresponding to the time of adding the cycle slip. Then, after substituting the data in table 3 into formulas 3 to 8 in order, the first cycle slip value Δn ₁ corresponding to the first carrier and the second cycle slip value Δn ₂ corresponding to the second carrier for each epoch are calculated as shown in table 4.

TABLE 4 Table 4

Finally, as can be seen from a comparison of table 4 and table 2, for the epoch with cycle slip in table 3, after the calculation performed by the formulas 3-8 in the above embodiment of the present application, the obtained first cycle slip and second cycle slip can calculate the cycle slip value corresponding to the epoch added to the cycle slip more accurately. Therefore, a more accurate cycle slip value of the satellite signal is calculated through the difference of the satellite multipath values, the cycle slip calculation accuracy of the satellite signal is improved, and when the calculated cycle slip of the satellite signal is used for repairing the cycle slip in the later period, the jump of the satellite signal can be compensated according to the more accurate cycle slip occurrence position, so that the accuracy of repairing the cycle slip of the satellite signal is improved.

Further, in the cycle slip calculation method of the satellite signal provided in the above embodiment, the cycle slip is calculated based on the multipath value of the satellite signal, and the first cycle slip value corresponding to the first carrier and the second cycle slip value corresponding to the second carrier can be obtained. On the basis of ensuring a certain accuracy and precision, in order to ensure that the calculated cycle slip of the satellite signal is more accurate, the application also provides a method for calculating Zhou Tiaojin lines of the satellite signal by using other various cycle slip calculation methods on the basis of obtaining a first cycle slip value and a second cycle slip value, and the cycle slip values are repaired and checked together by the cycle slip results obtained by different methods, so that the calculation accuracy and precision of the cycle slip of the satellite signal are further improved.

Specifically, fig. 7 is a flowchart of another embodiment of a cycle slip calculation method for satellite signals according to the present invention, as shown in fig. 7, where the cycle slip calculation method for satellite signals according to the present invention includes:

S201: and determining a first time and a second time corresponding to the adjacent epoch of the signal of the target satellite, a carrier phase observed value and a pseudo range corresponding to the first carrier, and a carrier phase observed value and a pseudo range corresponding to the second carrier.

Specifically, the execution body of the cycle slip calculation method of the satellite signal in this embodiment may be a terminal device a in the system shown in fig. 1, and after the receiver set in the terminal device a receives the signal sent by the target satellite in the satellite positioning system, the cycle slip value of the signal of the target satellite is calculated together by multiple methods by continuously tracking and detecting the signal of the target satellite.

Then in S201, in order to calculate Zhou Tiaojin lines using GF method, MW method, and multipath-based method as shown in fig. 2, carrier phase observations and pseudoranges corresponding to signals of the target satellite at different times are first determined. For example, the phase observation value L1 and the pseudo-range P1 corresponding to the first carrier, the phase observation value L2 and the pseudo-range P2 corresponding to the second carrier of the target satellite signal after the addition of the cycle slip shown in table 3 may be used as well. And wherein for each epoch, the second time as described in the present embodiment can be used, and the first time is an epoch before the second time. For example, when calculating the cycle slip value of the target satellite signal at the second time with epoch 300 in table 3, epoch 299 is taken as the first time, and the phase observation value L1 and the pseudo range P1 corresponding to the first carrier of the target satellite signal at the first time, and the phase observation value L2 and the pseudo range P2 corresponding to the second carrier can be determined from the observation data shown in fig. 5. Since there is a cycle slip at the first time and the second time, the cycle slip may cause a large change between L1, P1, L2, and P2 at the second time, i.e., 300 epochs, and L1, P1, L2, and P2 at the first time, i.e., 299 epochs.

S202: and determining a third cycle slip value corresponding to the signal of the target satellite at the second moment according to the GF method.

Specifically, in the embodiment S202, the terminal device as the executing subject may calculate, according to the parameter acquired in S201, the cycle slip value of the target satellite signal between the first time and the second time by the ionospheric residual method, and record the cycle slip value as the third cycle slip value. The ionospheric residual method is also called Geometric Free (GF) combination method. The ionospheric residual error is used to smoothly construct cycle slip detection amounts by utilizing the variation of the ionospheric residual error among epochs, but cycle slip values within 4 weeks can only be analyzed due to the influence of multiple values. GF method one expression is shown in equation 9:

Where f ₁ is the frequency of the first carrier, f ₂ is the frequency of the first carrier, For the carrier phase observations corresponding to the first carrier,And the carrier phase observed value corresponding to the second carrier is obtained.

For example, fig. 8 shows a schematic diagram of GF values corresponding to 3600 epochs obtained by calculating the original data in table 1 without cycle slip through equation 9, and subtracting the GF value of each epoch from the GF value of the previous adjacent epoch to obtain Δgf value corresponding to each epoch. In contrast, fig. 9 shows that after the cycle slip of table 2 is added to the original data shown in table 1, the GF value and Δgf value obtained by calculation of equation 9 are calculated in the data shown in table 3, and as can be seen from comparison of fig. 8 and fig. 9, the added cycle slip causes a significant mutation in the epoch corresponding to the time of adding the cycle slip. However, the GF method only analyzes cycle slips within 4 weeks, and none of the cycle slips corresponding to the epochs of (18, 14), (-18, -14), (9, 7) and (-9, -7) of Table 2, which are larger than 4, is detected. Therefore, in this example, only the third cycle slip value obtained by GF method is used as the auxiliary calculation parameter.

Optionally, because the GF method has the problem of poor algorithm adaptability due to the fact that an empirical value is used as a cycle slip detection threshold, the cycle slip value is invalid for a specific cycle slip value, and the cycle slip result has multiple values, the present implementation sets a data width when calculating the cycle slip value of the satellite signal using the GF method, that is, dynamically calculates the cycle slip detection value and the threshold by adopting a forward window method; the cycle slip value is reduced to a certain range, the application environment of the ionosphere residual error method is changed, and then the unique detection quantity of the ionosphere residual error method is used for confirming cycle slip, so that the problems that the ionosphere residual error method is invalid for a specific cycle slip value and has multiple values can be reduced to a certain extent.

S203: and determining a fourth round trip value corresponding to the signal of the target satellite at the second moment according to the MW method.

Specifically, in the embodiment S203, the terminal device as the executing subject may calculate, according to the parameters acquired in S201, the cycle slip value of the target satellite signal between the first time and the second time by the ionospheric residual method, and record the cycle slip value as the fourth cycle slip value. The MW combination is also called a wide-lane phase narrowing lane pseudo-range method, and the method eliminates the influence of geometric distance and ionosphere among satellites, but due to the multipath influence, the cycle slip value obtained by the MW combination method has larger fluctuation near a fixed value, and a single cycle slip value obtained by MW combination cannot separate the cycle slip values corresponding to two different frequencies of satellite signals. MW combining method one expression is shown in equation 10:

Wherein lambda ₁ is the wavelength of the first carrier wave, lambda ₂ is the wavelength of the second carrier wave, For the carrier phase observations corresponding to the first carrier,And for the carrier phase observed value corresponding to the second carrier, P ₁ is the code pseudo-range observed value corresponding to the first carrier, and P ₂ is the code pseudo-range observed value corresponding to the second carrier.

For example, fig. 10 shows a schematic diagram of MW values corresponding to 3600 epochs obtained by calculating the original data in table 1 without cycle slip added by equation 10, and the MW value of each epoch is subtracted from the MW value of the previous adjacent epoch to obtain a Δmw value corresponding to each epoch. In contrast, fig. 11 shows the MW and Δmw values obtained by the calculation of the data shown in table 3 after the addition of the cycle slip in table 2 to the raw data shown in table 1, and as can be seen from the comparison of fig. 10 and fig. 11, the added cycle slip causes a significant mutation in the epoch corresponding to the time of adding the cycle slip. However, the MW method can only determine that a cycle slip value exists at a certain moment with a low accuracy, and the fluctuation range of the MW combination method is large, so that (1, 1) with a smaller cycle slip as shown in table 2 cannot be detected, and the cycle slip values of two carriers corresponding to the satellite signal at the moment cannot be further determined, so that only the fourth cycle slip value obtained by the MW method is used as an auxiliary calculation parameter in this embodiment.

Optionally, since the algorithm of the MW combination method is recursive solution, the cycle slip detection amount and the threshold value are calculated by continuously using the cycle slip detection amounts of all the epochs from the first record, and the algorithm model is simple. Along with the extension of the observation period, the noise of the observation value changes along with the altitude angle, the error is accumulated and does not accord with the actual condition of the data quality of the current period, so that the sensitivity and the precision of the MW combination method for detecting and repairing cycle slip are not guaranteed. Therefore, when the MW method is used for calculating the cycle slip value of the satellite signal in the implementation, the width of the data can be set, namely, the cycle slip detection amount and the threshold value can be dynamically calculated by adopting a forward window method, so that excessive dependence on historical data can be avoided to a certain extent, error accumulation is avoided, the cycle slip detection amount and the threshold value are more in accordance with the actual data quality of the current period, and the sensitivity and the precision of the MW method are more reliable.

S204: according to the method shown in fig. 2, a first cycle slip value corresponding to a first carrier of a signal of a target satellite and a second cycle slip value corresponding to a second carrier at a second time are determined.

Specifically, in the present embodiment S204, the parameters acquired in S201 may be substituted into the common 3-8 in the embodiment shown in fig. 2 for the terminal device of the executing body, so as to calculate the first cycle slip value corresponding to the first carrier and the second cycle slip value corresponding to the second carrier of the target satellite signal.

Note that, the order of the terminal device in performing the calculation of S202 to S204 is not limited. And after the calculation is finally completed, the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value corresponding to each epoch in 3600 epochs of the signal of the target satellite can be obtained.

S205: and determining a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier between the first moment and the second moment according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value.

And then, the terminal equipment repairs the first cycle slip value and the second cycle slip value together according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value calculated in S202-S204, and finally obtains a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier. The GF method and the MW method may be used to find a cycle slip, so that the first cycle slip value and the second cycle slip value may be repaired to finally obtain a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier.

Specifically, in one possible implementation manner of S205 of the present application, S205 specifically includes:

S2051: and recording the GF value corresponding to the third cycle slip value as A1, the MW value corresponding to the fourth cycle slip value as B1, the first multipath value corresponding to the first cycle slip value as C1 and the second multipath value corresponding to the second cycle slip value as D1. For example, table 5 shows the data correspondence in table 3, the GF value difference (A1), the MW value difference (B1), the multipath value difference (C1) for the first carrier, and the multipath value difference (D1) for the second carrier between the corresponding epoch and the previous epoch.

TABLE 5

S2052: and then, according to the determined C1 and D1, the phase of the first carrier wave and the phase of the second carrier wave, a first initial cycle slip value and a second initial cycle slip value corresponding to the first multipath value are calculated together.

Specifically, a first initial cycle slip value Δn ₁ corresponding to the first carrier and a second initial cycle slip value Δn ₂ corresponding to the second carrier are calculated by the following formula 11:

Where λ ₁ is the wavelength of the first carrier, λ ₂ is the wavelength of the second carrier, and Δn _1.2 is the difference between the first initial cycle slip value Δn ₁ and the second initial cycle slip value Δn ₂ calculated from the multipath values. For example, the data shown in table 6 is substituted into formula 11 to obtain the first initial cycle slip value and the second initial cycle slip value corresponding to each epoch shown in table 5.

TABLE 6

S2053: rounding the delta N ₁ to obtain K1, rounding the delta N ₂ to obtain K2, and according to a formulaAnd b2=k1-K2 calculates intermediate quantities A2 and B2; wherein f1 is the frequency of the first carrier, and f2 is the frequency of the second carrier.

Specifically, in this step, after rounding the first initial cycle slip value Δn ₁ corresponding to the first carrier obtained in table 6 and the second initial cycle slip value Δn ₂ corresponding to the second carrier and calculating to obtain intermediate quantities A2 and B2, the difference between A2 and A1 is a GF residual value, which may be used to correct the GF value corresponding to the first cycle slip obtained in the GF method, and the difference between B1 and B2 is a MW residual value, which may be used to correct the MW value corresponding to the fourth cycle slip value obtained in the MW method. For example, after the data in table 6 is calculated in S2053, the obtained data is shown in table 7:

TABLE 7

S2054: calculating a cycle slip residual value L1 corresponding to the first carrier and a cycle slip residual value L2 corresponding to the second carrier according to the following formula 12:

L2＝L1-(B1-B2)

Wherein λ ₁ is the wavelength of the first carrier wave, and λ ₂ is the wavelength of the second carrier wave.

S2055: the first target cycle slip value and the second target cycle slip value are calculated according to the formula c3=k1+l1, d3=k2+l2. And then substituting the first target cycle slip value into the formula 3 to obtain a multipath value C3 corresponding to the first target cycle slip value, and substituting the second target cycle slip value into the formula 4 to obtain a multipath value C4 corresponding to the second target cycle slip value.

Finally, the cycle slip residual values L1 and L2 corresponding to each epoch calculated by the formula 12, and the C3 and C4 corresponding to the first carrier calculated by S2055 are shown in table 8:

TABLE 8

Sequence number	Time of	Calendar element	K1	K2	L1	L2	C3	D3
									1	0.08333	300	18	14	0	0	18	14
2	0.16667	600	-17	-13	-1	-1	-18	-14
									3	0.25000	900	10	8	-1	-1	9	7
4	0.33333	1200	-9	-7	0	0	-9	-7
									5	0.41667	1500	7	3	-2	-2	5	1
6	0.50000	1800	3	-1	1	2	4	1
									7	0.58333	2100	5	3	-2	-2	3	1
8	0.66667	2400	1	0	1	1	2	1
									9	0.75000	2700	2	2	-1	-1	1	1
10	0.83333	3000	5	5	-4	-5	1	0
									11	0.91667	3300	-2	-1	2	2	0	1

Finally, as can be seen from table 8, although the calculated cycle slip values of K1 and K2 in S204 have a certain error with the cycle slip actually added, the first target cycle slip value corresponding to the first carrier and the second target cycle slip value corresponding to the second carrier are finally obtained after the repair of the K1 and K2 by the L1 and L2 pair K1 and K2 obtained in S205 by combining the GF method and the MW method. And substituting the first target cycle slip value into the formula 3 to obtain a multipath value C3 corresponding to the first target cycle slip value, and substituting the second target cycle slip value into the formula 4 to obtain a multipath value C4 corresponding to the second target cycle slip value. The resulting C3 and C4 are seen to have smaller errors than the data actually added in table 2. Therefore, in the implementation, the cycle slip value can be repaired and checked through the cycle slip results obtained by different methods, so that the calculation accuracy and precision of the cycle slip of the satellite signal are further improved.

Optionally, in the embodiment shown in fig. 7, after calculating the first target cycle slip value corresponding to the first carrier and the second target cycle slip value corresponding to the second carrier of the signal of the target satellite in S205, the present application further provides a method for verifying the first target cycle slip value and the second target cycle slip value, so as to ensure accuracy of the calculated target satellite signal cycle slips.

In a specific implementation manner, the implementation may return the calculated difference between the multipath values and the actual difference between the multipath values corresponding to the first cycle slip value according to the first target cycle slip value, and determine the validity of the first target cycle slip value according to the comparison result of the two; and determining the validity of the second target cycle slip value according to the difference between the calculated multipath values returned by the second target cycle slip value and the difference between the actual multipath calculated by the second cycle slip value and the comparison result of the two.

Specifically, in this embodiment, C3 obtained by calculating the first target cycle slip value of the signal of the target satellite is different from the multipath value C1 corresponding to the first carrier corresponding to the same epoch calculated in table 5, and when the difference between C3 and C1 is determined to be less than 1, the validity of the first target cycle slip value C3 is determined, and the result may be used as a final calculation result, and the final multipath value corresponding to the first carrier of the target satellite signal participates in subsequent calculation. Meanwhile, in this embodiment, D3 obtained by calculating the second target cycle slip value of the signal of the target satellite is differenced with the multipath value D1 corresponding to the second carrier corresponding to the same epoch calculated in table 5, and when the difference between D3 and D1 is determined to be less than 1, the validity of the second target cycle slip value D3 is determined, and the result can be used as a final calculation result, and the final multipath value corresponding to the second carrier of the target satellite signal participates in subsequent calculation.

Optionally, in this embodiment, validity detection may be performed on the GF detected amount, and similarly, the calculated first target cycle slip value and second target cycle slip value may be substituted into equation 9 corresponding to the GF method, and after GF value A3 is calculated, a difference is made between the calculated GF value A1 corresponding to the same epoch and the signal of the target satellite calculated in the table, and when it is determined that the difference between A3-A1 is less than 0.02, validity of the cycle slip value calculated by the GF method is determined.

For example, the results of the validity test on the data in table 8 are shown in table 9:

TABLE 9

Finally, as shown in table 9, the first target cycle slip value and the second target cycle slip value calculated by the embodiment of the present application shown in fig. 7 pass the validity check, and can be used as cycle slip values of the target satellite signals for subsequent processing.

It will be appreciated that if the calculated cycle slip value does not pass the validity check, the calculated cycle slip value needs to be discarded, and the cycle slip values corresponding to the first carrier and the second carrier of the target satellite signal are set to 0.

Alternatively, in the above embodiments of the present application, after the first target cycle slip value and the second target cycle slip value of the signal of the target satellite are calculated, the satellite signal may be further processed according to the obtained cycle slip values. Such treatments include, but are not limited to: 1. marking the position of the cycle slip of the signal of the target satellite, and identifying the position as an abnormality in the post satellite signal calculation process; 2. and according to the calculated cycle slip value, correcting the cycle slip value and the like for satellite signals which follow the epoch in which the cycle slip occurs.

In summary, according to the cycle slip calculation method for satellite signals provided in this embodiment, it can be seen from the experimental data in tables 5 to 9 that when the satellite signals do not cycle slip, the detected values of GF method and MW method have fluctuations around 0; when a satellite signal takes a cycle slip, the GF method cannot calculate a part of the cycle slip. In the embodiment, after the cycle slip calculation method of multiple satellite signals is combined, the defect of a single calculation method can be overcome, and all cycle slips in experimental data can be detected. In this embodiment, the cycle slip is detected preliminarily by the cycle slip calculation method shown in fig. 2, the cycle slip value is reduced to less than 5 weeks, the residual cycle slip is detected by GF method, and the final cycle slip value is recovered. Finally, the final cycle slip back calculation is utilized to check the accuracy of the original cycle slip value, so that the cycle slip multi-value problem is avoided, the logic is clear, the accuracy is high, the programming is easy to realize, and the method can be used for detecting and repairing the cycle slip of the satellite signal.

In the embodiments of the present application, the methods provided in the embodiments of the present application are described from the perspective of the terminal device. In order to implement the functions in the method provided by the embodiment of the present application, the terminal device may further include a hardware structure and/or a software module, where the functions are implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Some of the functions described above are performed in a hardware configuration, a software module, or a combination of hardware and software modules, depending on the specific application of the solution and design constraints.

For example, fig. 12 is a schematic structural diagram of an embodiment of a cycle slip computing device for satellite signals according to the present application, where the device shown in fig. 12 may be used to perform the method according to any one of the embodiments shown in fig. 3 to 6, and the device includes: a determination module 1201 and a first calculation module 1202.

The determining module 1201 is configured to determine a difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier between a first time and a second time corresponding to adjacent epochs of a signal of a target satellite; the first calculation module 1202 is configured to determine a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to a wavelength of the first carrier, a wavelength of the second carrier, a difference between the first multipath values and a difference between the second multipath values.

Optionally, the first computing module 1202 is configured to,

By the formulaAndCalculating a first cycle slip value delta N ₁ corresponding to the first carrier and a second cycle slip value delta N ₂ corresponding to the second carrier;

Wherein, Lambda ₁ is the wavelength of the first carrier, lambda ₂ is the wavelength of the second carrier, am ₁ is the difference between the first multipath values, am ₂ is the difference between the second multipath values.

Optionally, the determining module 1201 is specifically configured to,

Calculating a difference DeltaM ₁ between the multipath value corresponding to the first carrier at the second moment and the multipath value corresponding to the first carrier at the first moment, wherein the multipath value M ₁ corresponding to the first carrier passes through the formulaA representation;

Calculating a difference DeltaM ₂ between the multipath value corresponding to the second carrier at the second moment and the multipath value corresponding to the second carrier at the first moment, wherein the multipath value M ₂ corresponding to the second carrier passes through the formula A representation;

Wherein P ₁ is the code pseudo-range observation corresponding to the first carrier, P ₂ is the code pseudo-range observation corresponding to the second carrier, For the carrier phase observations corresponding to the first carrier,Is the carrier phase observation corresponding to the second carrier.

Fig. 13 is a schematic structural diagram of an embodiment of a cycle slip calculation device for satellite signals according to the present application, which can be used to perform the method described in any one of fig. 7-11. Wherein the device shown in fig. 13 is based on the device shown in fig. 12, the device further comprises: a second computing module 1301, a third computing module 1302 and a repair module 1303.

The second calculation module 1301 is configured to determine, according to the geometric distance-free combination GF method, a third cycle slip value corresponding to the signal of the target satellite at the second time;

The third calculation module 1302 is configured to determine a fourth round trip value corresponding to the signal of the target satellite at the second moment according to the wide-lane phase-narrowing-lane pseudo-range MW method;

The repair module 1303 is configured to determine, according to the first cycle slip value, the second cycle slip value, the third cycle slip value, and the fourth cycle slip value, that the signal of the target satellite is between the first time and the second time, where the first target cycle slip value corresponds to the first carrier and the second target cycle slip value corresponds to the second carrier.

Optionally, the repair module is specifically configured to,

Determining the effectiveness of the first target cycle slip value according to the difference between the multipath values calculated by the first target cycle slip value and the difference between the multipath values calculated by the first cycle slip value and the comparison result of the multipath values calculated by the first cycle slip value;

and determining the validity of the second target cycle slip value according to the difference between the multipath values calculated by the second target cycle slip value and the difference between the multipath values calculated by the second cycle slip value and the comparison result of the multipath values calculated by the second cycle slip value.

Optionally, the repair module 1303 is specifically configured to,

Recording a GF value corresponding to the third cycle slip value as A1, a MW value corresponding to the fourth cycle slip value as B1, a first multipath value corresponding to the first cycle slip value as C1 and a second multipath value corresponding to the second cycle slip value as D1;

Determining a first initial cycle slip value delta N ₁ corresponding to the first carrier and a second initial cycle slip value delta N ₂ corresponding to the second carrier according to the phase of the C1, the phase of the D1, the phase of the first carrier and the phase of the second carrier;

Rounding the delta N ₁ to obtain K1, rounding the delta N ₂ to obtain K2, and according to a formula And b2=k1-K2 calculates intermediate quantities A2 and B2; wherein f1 is the frequency of the first carrier, and f2 is the frequency of the second carrier;

According to the formula And l2=l1- (B1-B2), calculating a cycle slip residual value L1 corresponding to the first carrier and a cycle slip residual value L2 corresponding to the second carrier; wherein λ ₁ is the wavelength of the first carrier wave, and λ ₂ is the wavelength of the second carrier wave;

The first target cycle slip value C3 and the second target cycle slip value D3 are calculated according to the formula c3=k1+l1, d3=k2+l2.

The cycle slip calculation device for satellite signals provided by the embodiments of the present invention can be used to execute the cycle slip calculation method for satellite signals shown in the foregoing embodiments, and the implementation manner and principle of the cycle slip calculation device are the same and are not repeated.

The present invention also provides an electronic device including: a processor, a memory and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method according to any of the preceding embodiments.

The invention also provides a storage medium storing a computer program which, when run on a computer, causes the computer to perform a method according to any one of the preceding embodiments.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A cycle slip calculation method for satellite signals, comprising:

determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values;

Determining a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier between the first time and the second time according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value; the third cycle slip value is determined according to a geometric distance free combination GF method at the second time instant and the fourth cycle slip value is determined according to a MW method at the second time instant.

2. The method of claim 1, wherein the determining the first cycle-slip value corresponding to the first carrier and the second cycle-slip value corresponding to the second carrier based on the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values comprises:

by the formula AndCalculating a first cycle slip value delta N ₁ corresponding to the first carrier and a second cycle slip value delta N ₂ corresponding to the second carrier;

3. The method of claim 2, wherein determining the difference between the first multipath value for the first carrier and the second multipath value for the second carrier between the first time and the second time corresponding to the adjacent epoch for the signal of the target satellite comprises:

Calculating a difference DeltaM ₁ between the first multipath value corresponding to the first carrier at the second moment and the multipath value corresponding to the first carrier at the first moment, wherein the multipath value M ₁ corresponding to the first carrier is calculated according to the formula A representation;

Calculating a difference ΔM ₂ between the second multipath value corresponding to the second carrier at the second moment and the multipath value corresponding to the second carrier at the first moment, wherein the multipath value M ₂ corresponding to the second carrier is calculated by the formula A representation;

Wherein P ₁ is the code pseudo-range observation corresponding to the first carrier, P ₂ is the code pseudo-range observation corresponding to the second carrier, For the carrier phase observations corresponding to the first carrier,And the carrier phase observed value corresponding to the second carrier is obtained.

4. A method according to any one of claims 1-3, wherein determining that the signal of the target satellite is between the first time instant and the second time instant based on the first cycle slip value, the second cycle slip value, the third cycle slip value, and the fourth cycle slip value, the first carrier corresponding to a first target cycle slip value and the second carrier corresponding to a second target cycle slip value, further comprising;

5. The method of claim 4, wherein determining that the signal of the target satellite is between the first time and the second time based on the first cycle slip value, the second cycle slip value, the third cycle slip value, and the fourth cycle slip value, the first target cycle slip value corresponding to the first carrier, and the second target cycle slip value corresponding to the second carrier comprises:

6. A cycle slip calculation device for satellite signals, comprising:

The first calculation module is used for determining a first cycle slip value corresponding to the first carrier and a second cycle slip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first multipath values and the difference between the second multipath values;

The repair module is used for determining a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier between the first time and the second time according to the first cycle slip value, the second cycle slip value, the third cycle slip value and the fourth cycle slip value; the third cycle slip value is determined according to a geometric distance free combination GF method at the second time instant and the fourth cycle slip value is determined according to a MW method at the second time instant.

7. The apparatus of claim 6, wherein the first computing module is configured to,

8. The apparatus of claim 7, wherein the determining means is specifically configured to,

Calculating a difference DeltaM ₁ between the first multipath value corresponding to the first carrier at the second moment and the multipath value corresponding to the first carrier at the first moment, wherein the multipath value M ₁ corresponding to the first carrier is calculated according to the formulaA representation;

9. The device according to any one of claims 6 to 8, wherein the repair module is specifically configured to,

10. The apparatus of claim 9, wherein the repair module is configured to,