CN112505733A - Joint cycle slip detection method suitable for dynamic orientation of double antennas - Google Patents
Joint cycle slip detection method suitable for dynamic orientation of double antennas Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a joint cycle slip detection method suitable for dynamic orientation of double antennas. The invention firstly detects the large cycle slip through the Doppler frequency; then detecting the small cycle slip by adopting the dual-frequency GF; if the detection confirms that the PDOP value of the satellite without cycle slip meets the condition, calculating a baseline vector through the fixed integer ambiguity of the satellite subset, and back-calculating the integer ambiguities of other satellites to judge whether the cycle slip occurs; otherwise, constructing the carrier phase three-difference observed quantity between the epochs for further cycle slip detection, and judging whether the satellite with cycle slip exists or not by calculating the baseline variation of the previous epoch and the next epoch and the error in the baseline variation. The invention organically combines the three cycle slip detection methods, mutually supplements the three cycle slip detection methods, comprehensively judges and reduces the false detection probability to the maximum extent so as to deal with various application scenes.
Description
Technical Field
The invention relates to the technical field of GNSS (Global Navigation Satellite System) carrier phase differential, in particular to a joint cycle slip detection method suitable for double-antenna dynamic orientation.
Background
With the rapid development of science and technology, the human activity field is continuously expanded, traces of human activities are generated from deep sea to land and even to the outer atmosphere, and with the continuous expansion of the human activity field, research activities such as the stabilization of satellites, airplanes, missiles and motion platforms, the automatic tracking, exploration and detection of microwave communication antennas and the like all need directional navigation technology. Therefore, the research of the directional navigation technology has important significance in the fields of scientific research and engineering. Compared with the traditional directional navigation technology (such as a gyro north-seeking device, a magnetic compass, a radio navigator, an electronic compass and the like), the GNSS directional has the advantages of high precision, simple structure, low price and the like, and the precision of the GNSS directional cannot be weakened with time, which is incomparable with other directional systems. In addition, GNSS orientation is not limited by scan range as is the case with infrared, without range and night limitations, and without the problem of gyro drift. Therefore, the GNSS directional system has great application potential, and has important significance in deeply researching and developing the GNSS directional system.
GNSS orientation is achieved by solving for baseline vectors using dual antenna carrier phase differences. Because the accuracy of the observed quantity of the carrier phase can reach millimeter level, the orientation accuracy can reach 1mil under the condition that the distance between the two antennas is 3 meters. However, because of the integer ambiguity in the carrier phase, the integer ambiguity of the carrier phase of each satellite must first be determined before the baseline solution using the carrier phase, which is called integer ambiguity fixing. The whole-cycle ambiguity fixing process is complicated, the calculated amount is large, once the ambiguity fixing process is fixed, the ambiguity fixing process cannot change under normal conditions, namely the previous fixing result can be continued, the high-precision carrier phase observed quantity is directly utilized to solve the baseline vector, and the high-precision orientation result is obtained. However, because the satellite navigation carrier signal is weak, cycle slip is very easy to occur under the condition of receiving shielding or interference, and if the carrier signal with cycle slip is still the carrier signal with cycle slip, the final orientation precision is seriously influenced by the result of previous fixing. Therefore, cycle slip detection must be performed on the carrier phase.
There are many cycle slip detection methods, but each method has its limitations, and particularly for small cycle slip occurring in a dynamic scene in a single-frequency mode, currently, there is no effective method for directly detecting the cycle slip.
Disclosure of Invention
In view of this, the invention provides a joint cycle slip detection method suitable for dual-antenna dynamic orientation, which comprehensively uses multiple cycle slip detection methods to detect carrier phase cycle slip in a dynamic scene, and can effectively realize cycle slip detection in various application modes.
The invention relates to a joint cycle slip detection method suitable for double-antenna dynamic orientation, which comprises the following steps:
step 1, detecting the large cycle slip by adopting Doppler frequency, and further executing step 2, but if the receiver is in a single-frequency mode, skipping steps 2 and 3, and directly executing step 4;
step 2, detecting the small cycle slip by adopting a dual-frequency GF method, and further executing step 3;
step 3, calculating the PDOP value of the satellite in which the cycle slip is not detected in the steps 1 and 2, and if the PDOP value is greater than or equal to a set threshold value A, executing the step 4; if PDOP is smaller than the set threshold A, executing step 5;
step 4, further detecting the small cycle slip by adopting an improved three-difference method, and further executing step 5;
the inter-epoch carrier phase three-difference observed quantity T is constructed as follows:
T(k)＝H(k)[B(k)-B(k-1)]＝H(k)ΔB(k)
b is a double-antenna baseline vector, and H is an observation vector;
solving the variation quantity delta B (k) of the baseline vector by combining all satellite three-difference observed quantities without detecting the cycle slip, and calculating the medium error rms; if the rms is less than or equal to a set threshold B, all satellites are considered to have no cycle slip; if rms is greater than the set threshold B, the following determination is made:
a) if the carrier phase observed quantity is double-frequency and no cycle slip is determined through detection in the step 2, determining no cycle slip;
b) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is greater than the set threshold value C, the cycle slip is considered to exist;
c) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is less than or equal to the set threshold value C, whether cycle slip exists or not cannot be confirmed;
step 5, adopting the satellite which is determined to be free of cycle slip after the steps to calculateBase line vector
If it is
If the error is not greater than the set threshold D, the method
Back-calculating the ambiguity of the whole cycle of all satellites, if the back-calculated ambiguity of the whole cycle is consistent with the ambiguity fixed by the previous epoch, determining that no cycle slip exists, otherwise, determining that the cycle slip exists; if it is
If the error is larger than the set threshold value D, the ambiguity needs to be fixed again.
Preferably, a cycle slip of greater than or equal to 5 weeks is considered a major cycle slip and a cycle slip of less than 5 weeks is considered a minor cycle slip.
Preferably, in the step 1, the amount ε is detected by constructing1Carrying out large cycle slip detection:
where Δ t is the time interval of two epochs,
wherein k represents the epoch number, which is the carrier phase;
is the Doppler frequency;
if epsilon1And if the cycle slip is larger than the set threshold value E, the cycle slip is considered to be present, otherwise, the cycle slip is considered to be absent.
Preferably, the threshold E is 5.0.
Preferably, the steps are2 by constructing the following cycle slip detection amount ε2Performing dual-frequency GF small cycle slip detection:
ε2＝λ1φ1-λ2φ2，
wherein λ is1、λ2Representing two frequency carrier wavelengths, phi1、φ2Carrier phases representing two frequencies;
if [ Delta ] [ epsilon ]2(k)-ε2And (k-1) if the value is larger than the set threshold value F, the cycle slip is considered to exist, otherwise, the cycle slip is considered to be absent.
Preferably, the threshold value F is 0.04.
Preferably, in step 4, the method for calculating the error rms in the baseline vector variation Δ b (k) is as follows:
in the formula, H represents an observation matrix, T represents a column vector consisting of all three-difference observation quantities, V is an observation quantity posterior residual error, P is an observation quantity weight matrix, and n is the number of the three-difference observation quantities.
Preferably, in the step 5, the method adopts
Back-calculating the integer ambiguity of all satellites
Comprises the following steps:
wherein, i represents a satellite number,
the back-calculated integer ambiguity is represented,
representing double differences in carrier phase, HiRepresenting the observation vector, |, representing rounding.
Preferably, the threshold value A is 10.0; taking a threshold value B as 0.1; taking the threshold value C as 0.5; the threshold value D is 0.1.
Has the advantages that:
the invention provides a joint cycle slip detection method suitable for double-antenna dynamic orientation, which can be applied to the cycle slip detection problem under various scenes. The traditional single method, such as a high-order difference method, a polynomial fitting method and a traditional three-difference method, can detect the single-frequency carrier phase small cycle slip in a static scene, but cannot be effectively adapted to a dynamic scene; the method adopting the Doppler frequency can adapt to dynamic scenes, but cannot detect small cycle slip; the small cycle slip can be detected by adopting the difference between the dual-frequency GF combined epochs, and the method is suitable for the dynamic state but not suitable for the single-frequency mode; therefore, single-double frequency carrier phase cycle slip detection in a dynamic scene cannot be satisfied by only a single method. The invention is combined with a plurality of cycle slip detection methods for comprehensive application, and is improved on the basis of the traditional method so as to be suitable for the cycle slip detection requirements of double-antenna dynamic orientation under various scenes.
Detailed Description
The present invention will be described in detail below with reference to examples.
The invention provides a joint cycle slip detection method suitable for dynamic orientation of double antennas, which comprises the steps of firstly detecting large cycle slip through Doppler frequency; secondly, performing inter-epoch differencing on the dual-frequency observed quantity by adopting a GF combined model to establish a detected quantity, and detecting the small cycle slip; if the detection confirms that the PDOP value of the satellite without cycle slip meets the condition, calculating a baseline vector through the integer ambiguity fixed by the satellite subset, and performing back calculation on the integer ambiguities of all satellites to further judge whether the cycle slip occurs; otherwise, constructing carrier phase three-difference observed quantity between epochs, judging whether the satellite with cycle slip exists or not by calculating the baseline variation quantity and the median error of the previous epoch and the next epoch, if the median error meets the condition, determining that all the satellites have no cycle slip, otherwise, rejecting the satellite with larger three-difference value to calculate the baseline vector and calculating the median error, if the median error is smaller, determining that no cycle slip exists, otherwise, fixing the ambiguity again.
The overall idea of the invention is that Doppler frequency detection large cycle slip- > double-frequency GF combined detection double-frequency small cycle slip- > improved three-difference method detection single-frequency small cycle slip- > is further confirmed by baseline fixed rms solution;
specifically, the method comprises the following steps:
step 1, detecting the large cycle slip by adopting Doppler frequency, and further executing step 2, but if the receiver is in a single-frequency mode, skipping steps 2 and 3, and directly executing step 4;
the specific method for detecting the large cycle slip by adopting the Doppler frequency comprises the following steps:
the variation delta phi of the carrier phases phi of two adjacent epochs under low dynamic is as follows:
Δφ＝φ(k)-φ(k-1)≈-fd·Δt，
wherein, the delta t is the time interval of two epochs (the delta t is less than or equal to 1 s); f. ofdFor Doppler frequency, in this embodiment, fdUsing the average of the Doppler frequencies of two epochs before and after, i.e. to improve accuracy
k represents the epoch number;
construction of cycle slip detection quantity ε1：
If epsilon1If the value is larger than the set threshold value E, the cycle slip is considered to exist. In this embodiment, the threshold E is 5.0.
In consideration of the accuracy of the doppler frequency itself and the mobility conditions of the receiver in low dynamics, the large and small cycle slips of the present embodiment are limited to 5 cycles, those greater than or equal to 5 cycles are large cycle slips, and those less than 5 cycles are small cycle slips. Of course, other cycle-hop-sized cycle-hop partition boundaries are also applicable to the present invention.
Confirming that the satellite with cycle slip does not need to carry out subsequent steps in the step, and waiting for fixing the integer ambiguity again; other satellites can only confirm that no major cycle slip occurs, but cannot confirm whether minor cycle slip occurs, and follow-up step detection is required.
And 2, detecting the small cycle slip by adopting GF (Geometry-free) double-frequency combination, and further executing the step 3.
The specific method for detecting the small cycle slip by adopting GF (Geometry-free) dual-frequency combination comprises the following steps:
for the dual-frequency carrier phase observed quantity of the same satellite, a carrier phase non-differential model is utilized:
λ1φ1＝r-I1+T+δtu-δts+λ1N1
λ2φ2＝r-I2+T+δtu-δts+λ2N2
wherein subscripts 1,2 represent two frequency points, λ represents wavelength, φ represents carrier phase, r represents space-to-earth distance, I represents ionospheric delay, T represents tropospheric delay, δ T represents carrier phase, andurepresenting local clock error, δ tsThe clock error of the satellite is represented, N represents the ambiguity of the whole cycle, and other components such as thermal noise, multipath and the like of the receiver are ignored;
construction of cycle slip detection quantity ε2
ε2＝λ1φ1-λ2φ2＝I2-I1+λ1N1-λ2N2＝ΔI+ΔN
For epsilon2Making difference between epochs, if delta epsilon is epsilon2(k)-ε2And (k-1) if the value is larger than the set threshold value F, the cycle slip is considered to exist, otherwise, the cycle slip is considered to be absent. In this embodiment, the threshold F is 0.04.
Confirming that the satellite with cycle slip does not need to carry out subsequent steps in the step, and waiting for fixing the integer ambiguity again; although the satellite without cycle slip can still be detected in some special cases, the satellite can be disregarded, and corresponding measures can be subsequently confirmed.
Step 3, calculating the PDOP value of the satellite without detecting the cycle slip in the steps 1 and 2, and if the PDOP value is larger than or equal to a set threshold value A, executing the step 4; otherwise, skipping step 4 and directly executing step 5; in this embodiment, the threshold a is 10.0.
And 4, further detecting the small cycle slip by adopting an improved three-difference method, and further executing the step 5.
The improved three-difference method is as follows:
using carrier phase non-differential models to build single-differential models, i.e.
Δφ＝(Δr-ΔI+ΔT+Δδtu)/λ+ΔN
Selecting a reference star and using the single difference model to build a double difference model, i.e.
Dual antenna orientations are typically short baselines of a few meters, so ionospheric and tropospheric residuals can be ignored. Namely, it is
Wherein, B is a double-antenna baseline vector, and H is an observation vector.
Constructing a three-difference model using a two-difference model, i.e.
In the case of a low dynamic short baseline, the observation matrix for adjacent epochs is nearly unchanged, i.e., H (k-1) ≈ H (k), and therefore
Without cycle slip
T(k)＝H(k)[B(k)-B(k-1)]＝H(k)ΔB(k)
And solving delta B (k) by combining all satellite three-difference observed quantities without detecting the cycle slip by adopting a least square method, and calculating a medium error rms.
Namely, it is
Wherein, H represents an observation matrix, and T represents a column vector consisting of all the three-difference observation quantities.
Wherein n is the number of the three-difference observed quantities.
If the rms is smaller than or equal to a set threshold B, all satellites are considered to have no cycle slip, otherwise, the satellites with the cycle slip are considered to exist.
When rms is greater than a set threshold B, the following determination is made:
a) if the carrier phase observed quantity is double-frequency and no cycle slip is determined through detection in the step 2, determining that no cycle slip still exists;
b) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is greater than the set threshold value C, the cycle slip is considered to exist;
c) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is less than or equal to the set threshold value C, whether cycle slip exists or not cannot be confirmed;
in this embodiment, the threshold B is 0.1; the threshold value C is 0.5.
Step 5, calculating a base line vector by adopting the satellite which is determined to be free of cycle slip after the steps
If it is
If the error is not greater than the set threshold D, the method
And (5) back calculating the integer ambiguity of all the satellites, and further confirming whether cycle slip occurs.
The ambiguity back calculation method comprises the following steps:
wherein, i represents a satellite number,
the back-calculated integer ambiguity is represented,
representing double differences in carrier phase, HiRepresenting the observation vector, |, representing rounding.
Will be provided with
And comparing the integer ambiguity fixed by the previous epoch, and if the integer ambiguity is consistent with the integer ambiguity fixed by the previous epoch, considering that no cycle slip exists, and vice versa.
If it is
If the error is larger than the set threshold value D, cycle slip missing detection is considered, but the satellite with cycle slip is difficult to identify, so all ambiguities need to be fixed again.
In this embodiment, the threshold value D is 0.1.
The invention organically combines the three cycle slip detection methods, mutually supplements the three cycle slip detection methods, comprehensively judges and reduces the false detection probability to the maximum extent so as to deal with various application scenes. Aiming at the defects that the frequency point of the cycle slip cannot be identified by a dual-frequency GF method and the characteristic of high cycle slip false detection probability of detecting by a three-difference method under a dynamic scene, firstly, the cycle slip is detected by adopting Doppler frequency, satellites with large cycle slip at a single frequency point can be eliminated, and satellites with cycle slip only in single-frequency carrier phase under a dual-frequency mode are reserved to a certain extent; in addition, in a single-frequency application mode, if the cycle slip of a satellite occurs, the possibility of error detection is increased only by adopting an improved three-difference method for cycle slip detection, if the detection is carried out by combining with the Doppler frequency, the satellite with the large cycle slip is removed, and then the improved three-difference method is used for detecting whether the residual satellite has the cycle slip, so that the error detection probability can be reduced; secondly, the double-frequency GF method and the improved three-difference method are complementary, and when the PDOP of the double-frequency satellite without cycle slip does not meet the requirement, the rest satellites are further checked by the improved three-difference method; meanwhile, under the condition that the error in the baseline variation calculated by the improved tri-differencing method exceeds the threshold, the satellite without cycle slip confirmed by the dual-frequency GF method is reserved, and the remaining satellites are subjected to tri-differencing value inspection to screen out the satellite without cycle slip. And finally, resolving the baseline vector by using all the satellites detected through the cycle slip, and determining the final result by judging whether the median error of the baseline vector exceeds a threshold. In the whole cycle slip detection process, the three methods are buckled with each other, and one of the three methods is not available.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A joint cycle slip detection method suitable for dynamic orientation of double antennas is characterized by comprising the following steps:
step 1, detecting large cycle slip by adopting Doppler frequency;
if the receiver is in a single-frequency mode, executing the step 4, otherwise, executing the step 2;
step 2, detecting the small cycle slip by adopting a dual-frequency GF method;
step 3, calculating the PDOP value of the satellite in which the cycle slip is not detected in the steps 1 and 2, and if the PDOP value is greater than or equal to a set threshold value A, executing the step 4; if PDOP is smaller than the set threshold A, executing step 5;
and 4, further detecting the small cycle slip by adopting an improved three-difference method:
constructing three-difference observed quantity T of carrier phase among epochs as follows:
T(k)＝H(k)[B(k)-B(k-1)]＝H(k)ΔB(k)
b is a double-antenna baseline vector, and H is an observation vector;
solving the variation quantity delta B (k) of the baseline vector by combining all satellite three-difference observed quantities without detecting the cycle slip, and calculating the medium error rms; if the rms is less than or equal to a set threshold B, all satellites are considered to have no cycle slip; if rms is greater than the set threshold B, the following determination is made:
a) if the carrier phase observed quantity is double-frequency and no cycle slip is determined through detection in the step 2, determining no cycle slip;
b) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is greater than the set threshold value C, the cycle slip is considered to exist;
c) if the carrier phase observed quantity is a single frequency and the three difference value T (k) is less than or equal to the set threshold value C, whether cycle slip exists or not cannot be confirmed;
step 5, calculating a base line vector by adopting the satellite which is determined to be free of cycle slip after the steps
If it is
If the error is not greater than the set threshold D, the method
Back-calculating the ambiguity of the whole cycle of all satellites, if the back-calculated ambiguity of the whole cycle is consistent with the ambiguity fixed by the previous epoch, determining that no cycle slip exists, otherwise, determining that the cycle slip exists; if it is
If the error is larger than the set threshold value D, the ambiguity needs to be fixed again.
2. The joint cycle slip detection method adaptive to dual antenna dynamic orientation of claim 1, wherein a cycle slip greater than or equal to 5 weeks is considered a large cycle slip and a cycle slip less than 5 weeks is considered a small cycle slip.
3. The joint cycle slip detection method adapted to dynamic orientation of dual antennas of claim 1, wherein in step 1, the detection quantity e is constructed by1Carrying out large cycle slip detection:
where Δ t is the time interval of two epochs,
wherein k represents the epoch number, phi is the carrier phase;
is the Doppler frequency;
if epsilon1And if the cycle slip is larger than the set threshold value E, the cycle slip is considered to be present, otherwise, the cycle slip is considered to be absent.
4. The joint cycle slip detection method adaptive to dual antenna dynamic orientation of claim 3, wherein the threshold E is 5.0.
5. The joint cycle slip detection method adapted to dynamic orientation of dual antennas of claim 1, wherein in step 2, the cycle slip detection quantity e is constructed by2Performing dual-frequency GF small cycle slip detection:
ε2＝λ1φ1-λ2φ2，
wherein λ is1、λ2Representing two frequency carrier wavelengths, phi1、φ2Carrier phases representing two frequencies;
if [ Delta ] [ epsilon ]2(k)-ε2And (k-1) if the value is larger than the set threshold value F, the cycle slip is considered to exist, otherwise, the cycle slip is considered to be absent.
6. The joint cycle slip detection method adaptive to dual antenna dynamic orientation of claim 5, wherein the threshold F is 0.04.
7. The joint cycle slip detection method adapted to dynamic orientation of dual antennas as claimed in claim 1, wherein in step 4, the error rms in the baseline vector variation Δ b (k) is calculated by:
in the formula, H represents an observation matrix, T represents a column vector consisting of all three-difference observation quantities, V is an observation quantity posterior residual error, P is an observation quantity weight matrix, and n is the number of the three-difference observation quantities.
8. The joint cycle slip detection method adapted to dynamic orientation of dual antennas of claim 1, wherein in step 5, the method employs
Back-calculating the integer ambiguity of all satellites
Comprises the following steps:
wherein, i represents a satellite number,
the back-calculated integer ambiguity is represented,
representing double differences in carrier phase, HiRepresenting the observation vector, |, representing rounding.
9. The joint cycle slip detection method adapted to dual antenna dynamic orientation of claim 1, wherein the threshold a is 10.0; taking a threshold value B as 0.1; taking the threshold value C as 0.5; the threshold value D is 0.1.
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| CN113514856A (en) * | 2021-04-12 | 2021-10-19 | 国网上海市电力公司 | Cycle slip detection method and device, electronic equipment and readable storage medium |
| CN115826009A (en) * | 2023-02-22 | 2023-03-21 | 广州导远电子科技有限公司 | Cycle slip detection method, storage medium and receiver |
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| CN115826009B (en) * | 2023-02-22 | 2023-04-28 | 广州导远电子科技有限公司 | Cycle slip detection method, storage medium and receiver |
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