CN112505733B - Combined cycle slip detection method suitable for dynamic orientation of double antennas - Google Patents

Combined cycle slip detection method suitable for dynamic orientation of double antennas Download PDF

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CN112505733B
CN112505733B CN202011420139.3A CN202011420139A CN112505733B CN 112505733 B CN112505733 B CN 112505733B CN 202011420139 A CN202011420139 A CN 202011420139A CN 112505733 B CN112505733 B CN 112505733B
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CN112505733A (en
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李健
冯大林
侯晓亚
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Bit Raco Electronic Information Technology Co ltd
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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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a joint cycle slip detection method suitable for dynamic orientation of double antennas. The invention firstly detects the large cycle skip through Doppler frequency; then detecting small cycle skip by adopting double-frequency GF; if the satellite PDOP value without cycle slip is detected and confirmed to meet the condition, calculating a baseline vector through the fixed integer ambiguity of the satellite subset, and back-calculating the integer ambiguity of other satellites to judge whether cycle slip occurs or not; otherwise, constructing inter-epoch carrier phase three-difference observables to further cycle slip detection, and judging whether satellites with cycle slip exist or not by calculating the change quantity of the front and rear epoch base lines and errors in the change quantity. According to the invention, three cycle slip detection methods are organically combined, and are mutually supplemented and comprehensively distinguished, so that the false detection probability is reduced to the greatest extent to cope with various application scenes.

Description

Combined cycle slip detection method suitable for dynamic orientation of double antennas
Technical Field
The invention relates to the technical field of carrier phase difference of GNSS (Global Navigation Satellite System ), in particular to a combined cycle slip detection method suitable for dual-antenna dynamic orientation.
Background
With the rapid development of science and technology, the activity field of human beings is continuously expanded, trace of human beings is left from deep sea to land and even to the outer atmosphere, and along with the continuous expansion of the activity field of human beings, the research activities such as stability of satellites, airplanes, missiles and motion platforms, automatic tracking of microwave communication antennas, exploration and detection all need directional navigation technology. Therefore, 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 is not weakened with time, which is incomparable with other directional systems. In addition, GNSS orientation is not limited by scanning range like infrared, without limitation of range and night, nor the problem of gyro drift. Therefore, the GNSS directional system has great application potential, and has important significance in deep research and development.
GNSS orientation is achieved by solving for the baseline vector using dual antenna carrier-phase difference. Because the carrier phase observed quantity accuracy can reach millimeter level, the orientation accuracy can reach 1mil under the condition that the distance between two antennas is 3 meters. However, because of the integer ambiguity in the carrier phase, the integer ambiguity for each satellite carrier phase must first be determined before baseline resolution using the carrier phase, a process called integer ambiguity fixing. The whole-cycle ambiguity fixing process is complex, the calculated amount is large, however, once the whole-cycle ambiguity is fixed, the fixed result can be continued without changing under normal conditions, the baseline vector can be solved by directly utilizing the high-precision carrier phase observed quantity, and the high-precision orientation result can be obtained. However, since the satellite navigation carrier signal is weak, cycle slip is very easy to occur under the condition of receiving shielding or interference, if the carrier signal with cycle slip still adopts the fixed result before, the final orientation precision is seriously affected. Therefore, cycle slip detection of the carrier phase is necessary.
There are many methods for cycle slip detection, but each method has its limitation, especially for small cycle slips occurring in a dynamic scene in a single frequency mode, no effective method is available at present for directly detecting the small cycle slips.
Disclosure of Invention
In view of the above, the invention provides a combined cycle slip detection method suitable for dual-antenna dynamic orientation, which comprehensively utilizes a plurality of cycle slip detection methods to detect carrier phase cycle slips aiming at dynamic scenes, and can effectively realize cycle slip detection in various application modes.
The invention relates to a combined cycle slip detection method suitable for dynamic orientation of double antennas, which comprises the following steps:
step 1, detecting the large cycle skip by using 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 small cycle slips by adopting a double-frequency GF method, and further executing step 3;
step 3, calculating the satellite PDOP value of which the cycle slip is not detected in the step 1 and the step 2, and executing the step 4 if the PDOP value is larger than or equal to a set threshold value A; if the PDOP is smaller than the set threshold A, executing the step 5;
step 4, adopting an improved three-difference method to further detect small cycle slip, 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)
wherein B is a double-antenna baseline vector, and H is an observation vector;
solving the baseline vector variation delta B (k) by combining three-difference observables of all satellites of which cycle slip is not detected, and calculating a medium error rms; if rms is smaller than or equal to the set threshold B, all satellites are considered to have no cycle slip; if rms is larger than the set threshold B, the following judgment is performed:
a) If the observed carrier phase is double-frequency and no cycle slip is detected in the step 2, the cycle slip is still determined;
b) If the carrier phase observed quantity is single frequency and the three difference value T (k) is larger than the set threshold C, the cycle slip is considered;
c) If the observed carrier phase is single frequency and the three difference T (k) is smaller than or equal to the set threshold C, whether cycle slip exists or not cannot be confirmed;
step 5, calculating a baseline vector by using the satellite which is determined to be without cycle slip after the stepsIf->If the error is not greater than the set threshold D, the method adopts +.>Back-calculating the integer ambiguity of all satellites, if the back-calculated integer ambiguity and the last calendarThe integer ambiguity of the meta-fixation is consistent, and no cycle slip is considered, otherwise, the cycle slip is considered; if->If the error is larger than the set threshold D, the ambiguity is required to be fixed again.
Preferably, cycle slips greater than or equal to 5 weeks are considered large cycle slips, and less than 5 weeks are considered small cycle slips.
Preferably, in the step 1, the following detection amount epsilon is constructed 1 And (5) performing large cycle slip detection:
wherein Deltat is the time interval of two epochs, wherein k represents epoch number, which is carrier phase; />Is Doppler frequency;
if epsilon 1 If the cycle slip is greater than the set threshold E, the cycle slip is considered to exist, otherwise, the cycle slip is considered to be absent.
Preferably, the threshold E is 5.0.
Preferably, in the step 2, the following cycle slip detection quantity epsilon is constructed 2 And (3) performing double-frequency GF small cycle slip detection:
ε 2 ＝λ 1 φ 1 -λ 2 φ 2 ，
wherein lambda is 1 、λ 2 Representing two frequency carrier wavelengths phi 1 、φ 2 Carrier phases representing two frequencies;
if Δε=ε 2 (k)-ε 2 (k-1) is greater than a set threshold F, then cycle slip is considered to be present, otherwise no cycle is considered to be presentAnd (5) jumping.
Preferably, the threshold F is 0.04.
Preferably, in the step 4, the calculating method of the error rms in the baseline vector variation Δb (k) is as follows:
wherein H represents an observation matrix, T represents column vectors formed by all three-difference observables, V represents an observation posterior residual, P represents an observation weight matrix, and n represents the number of the three-difference observables.
Preferably, in the step 5, the method comprisesBack-calculating all satellite integer ambiguities, back-calculated integer ambiguities +.>The method comprises the following steps:
wherein i represents the satellite number,integer ambiguity representing back-calculation, +.>Representing carrier phase double difference, H i Representing the observation vector, |·| represents rounding.
Preferably, the threshold value A is 10.0; the threshold B is 0.1; the threshold C is 0.5; the threshold D takes 0.1.
The beneficial effects are that:
the invention provides a combined cycle slip detection method suitable for dynamic orientation of double antennas, which can be applied to cycle slip detection in various scenes. The traditional single method, such as a higher order difference method, a polynomial fitting method and a traditional three-difference method, can detect single-frequency carrier phase small cycle slip under a static scene, but cannot be effectively applied to a dynamic scene; the Doppler frequency method can be suitable for dynamic scenes, but small cycle slips cannot be detected; small cycle slip can be detected by adopting difference between double-frequency GF combined epochs, and the method is suitable for dynamics, but not suitable for a single-frequency mode; therefore, the single-dual-frequency carrier phase cycle slip detection in a dynamic scene cannot be satisfied by a single method. The invention is combined with a plurality of cycle slip detection methods to be comprehensively applied, and is improved on the basis of the traditional method so as to be suitable for cycle slip detection requirements of dual-antenna dynamic orientation under various scenes.
Detailed Description
The present invention will be described in detail with reference to the following examples.
The invention provides a combined cycle slip detection method suitable for dynamic orientation of double antennas, which comprises the steps of firstly detecting large cycle slips through Doppler frequency; secondly, performing inter-epoch difference establishment detection on the double-frequency observed quantity by adopting a GF (glass fiber) combined model, and detecting small cycle slips; if the satellite PDOP value without cycle slip is detected and confirmed to meet the condition, calculating a baseline vector through the fixed integer ambiguity of the satellite subset, and back-calculating all the satellite integer ambiguities to further judge whether cycle slip occurs or not; otherwise, constructing inter-epoch carrier phase three-difference observables, judging whether satellites with cycle slip exist or not by calculating the change quantity and the middle error of the base lines of the front epoch and the rear epoch, if the middle error meets the conditions, judging that all satellites have no cycle slip, otherwise, removing satellites with larger three differences, calculating the base line vector and calculating the middle error, if the middle error is smaller, judging that no cycle slip exists, otherwise, needing to fix the ambiguity again.
The whole thought of the invention is that Doppler frequency detection large cycle skip- > double-frequency GF combined detection double-frequency small cycle skip- > improved three-difference method detection single-frequency small cycle skip- > is further confirmed through a base line fixed solution rms;
specific:
step 1, detecting the large cycle skip by using 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 using the Doppler frequency comprises the following steps:
the variation delta phi of the carrier phases phi of two adjacent epochs under low dynamic state is as follows:
Δφ＝φ(k)-φ(k-1)≈-f d ·Δt，
wherein, deltat is the time interval of two epochs (Deltat is less than or equal to 1 s); f (f) d For Doppler frequency, in this embodiment, f d Using an average of the Doppler frequencies of the two epochs before and after each other to improve accuracy, i.e k represents the epoch number;
construction cycle slip test amount ε 1 ：
If epsilon 1 If the cycle slip exceeds the set threshold E, the cycle slip is considered to be present. In this embodiment, the threshold E is 5.0.
Considering the accuracy of the doppler frequency itself and the maneuvering condition of the receiver under low dynamics, the size cycle slip of this embodiment is limited to 5 weeks, greater than or equal to 5 weeks, and less than 5 weeks. Of course, for the present invention, the dividing limits of the number of hops of the size are also applicable.
In the step, the satellite with cycle slip is confirmed to be free from the follow-up step, and the whole cycle ambiguity is waited for to be fixed again; other satellites can only confirm that no large cycle slip occurs, but cannot confirm whether small cycle slip occurs or not, and further follow-up step detection is needed.
And step 2, detecting small cycle skip by adopting GF (Geometry-free) dual-frequency combination, and further executing step 3.
The specific method for detecting the small Zhou Tiaojin line by adopting GF (Geometry-free) double-frequency combination is as follows:
for the dual-frequency carrier phase observed quantity of the same satellite, a carrier phase non-difference model is utilized:
λ 1 φ 1 ＝r-I 1 +T+δt u -δt s +λ 1 N 1
λ 2 φ 2 ＝r-I 2 +T+δt u -δt s +λ 2 N 2
wherein, subscripts 1,2 represent two frequency points, λ represents wavelength, φ represents carrier phase, r represents star-ground distance, I represents ionospheric delay, T represents tropospheric delay, δt u Representing local clock difference, δt s The satellite clock error is represented, N represents the integer ambiguity, and other components such as thermal noise and multipath of a receiver are ignored;
construction cycle slip test amount ε 2
ε 2 ＝λ 1 φ 1 -λ 2 φ 2 ＝I 2 -I 1 +λ 1 N 1 -λ 2 N 2 ＝ΔI+ΔN
For epsilon 2 To make the difference between epochs, if Δε=ε 2 (k)-ε 2 (k-1) is greater than a set threshold F, then cycle slip is considered, otherwise no cycle slip is considered. In this embodiment, the threshold F is 0.04.
In the step, the satellite with cycle slip is confirmed to be free from the follow-up step, and the whole cycle ambiguity is waited for to be fixed again; the satellite with no cycle slip can still be detected under certain special conditions, but we do not consider the satellite, and corresponding measures can be confirmed later.
Step 3, calculating the satellite PDOP value of which the cycle slip is not detected in the steps 1 and 2, and executing the step 4 if the PDOP value is larger than or equal to a set threshold value A; otherwise, skipping the step 4, and directly executing the step 5; in this embodiment, the threshold value a is 10.0.
And step 4, further detecting the small cycle slip by adopting an improved three-difference method, and further executing step 5.
The improved three-difference method is specifically as follows:
establishing a single difference model by using a carrier phase non-difference model, i.e
Δφ＝(Δr-ΔI+ΔT+Δδt u )/λ+ΔN
Selecting a reference star and establishing a double difference model by using a single difference model, namely
Dual antenna orientations are typically short baselines of a few meters, so the residues of ionosphere and troposphere can be ignored. I.e.
Wherein B is a double-antenna baseline vector, and H is an observation vector.
Building a three-difference model using a double-difference model, i.e
In the case of low dynamic short baselines, the observation matrix of adjacent epochs is almost 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 a least square method by combining three differential observables of all satellites of which cycle slip is not detected, and calculating the medium error rms.
I.e.
Where H represents the observation matrix and T represents the column vector of all three difference observables.
Wherein n is the number of three-difference observables.
If rms is less than or equal to the set threshold B, then all satellites are considered to have no cycle slip, otherwise satellites are considered to have cycle slip.
When rms is larger than the set threshold B, the following discrimination is performed:
a) If the observed carrier phase is double-frequency and no cycle slip is detected in the step 2, the carrier phase is still determined to be no cycle slip;
b) If the carrier phase observed quantity is single frequency and the three difference value T (k) is larger than the set threshold C, the cycle slip is considered;
c) If the observed carrier phase is single frequency and the three difference T (k) is smaller than or equal to the set threshold C, whether cycle slip exists or not cannot be confirmed;
in this embodiment, the threshold B is 0.1; the threshold C takes 0.5.
Step 5, calculating a baseline vector by using the satellite which is determined to be without cycle slip after the stepsIf->If the error is not greater than the set threshold D, the method adopts +.>And back calculating the whole-cycle ambiguity of all satellites, and further confirming whether cycle slip occurs.
The ambiguity back calculation method is as follows:
wherein i represents the satellite number,integer ambiguity representing back-calculation, +.>Representing carrier phase double difference, H i Representing the observation vector, |·| represents rounding.
Will beComparing with the fixed integer ambiguity of the last epoch, if consistent, no cycle slip is considered, and vice versa.
If it isIf the error is larger than the set threshold D, it is considered that there is a cycle slip leak detection, but it is difficult to identify the satellite that has a cycle slip, and therefore, it is necessary to fix all the ambiguities again.
In this embodiment, the threshold D is 0.1.
According to the invention, three cycle slip detection methods are organically combined, and are mutually supplemented and comprehensively distinguished, so that the false detection probability is reduced to the greatest extent to cope with various application scenes. Aiming at the defects that the frequency point where the frequency hopping is located cannot be identified by the double-frequency GF method and the characteristic that the frequency point where the frequency hopping is located is high in probability of detecting the frequency hopping by the three-difference method under a dynamic scene, the Doppler frequency is adopted to detect the frequency hopping, so that satellites with larger frequency hopping at single frequency points can be eliminated, and the satellites with frequency hopping only at single frequency carrier phases in the double-frequency mode are reserved to a certain extent; in addition, in the single-frequency application mode, if a satellite has cycle slip, the possibility of false detection is increased only by adopting an improved three-difference method for cycle slip detection, if the satellite is detected by combining Doppler frequency, the satellite with large cycle slip is removed, and then whether the residual satellite has cycle slip is checked by utilizing the improved three-difference method, so that the false detection probability can be reduced; secondly, the double-frequency GF method and the improved three-difference method are mutually complemented, and when the PDOP of the double-frequency satellite without cycle slip does not meet the requirement, the residual satellite is further inspected by the improved three-difference method; meanwhile, under the condition that the error in the baseline variation is calculated by the improved three-difference method and exceeds a threshold, the satellite without cycle slip is confirmed in the double-frequency GF method, and then the remaining satellites are subjected to three-difference value detection, so that the satellite without cycle slip is screened. And finally, calculating the baseline vector by using all satellites detected through cycle slip, and confirming the final result by judging whether the error in the baseline vector exceeds a threshold. The whole cycle slip detection flow is endless, and the three methods are indispensable.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The combined cycle slip detection method suitable for dynamic orientation of double antennas is characterized by comprising the following steps:
step 1, detecting large cycle hops by using Doppler frequency;
if the receiver is in the single frequency mode, executing the step 4, otherwise, executing the step 2;
step 2, detecting small cycle slips by adopting a double-frequency GF method;
step 3, calculating the satellite PDOP value of which the cycle slip is not detected in the step 1 and the step 2, and executing the step 4 if the PDOP value is larger than or equal to a set threshold value A; if the PDOP is smaller than the set threshold A, executing the step 5;
step 4, adopting an improved three-difference method to further detect small cycle slip:
the inter-epoch carrier phase three-difference observables T are constructed as follows:
T(k)＝H(k)[B(k)-B(k-1)]＝H(k)ΔB(k)
wherein B is a double-antenna baseline vector, and H is an observation vector;
solving the baseline vector variation delta B (k) by combining three-difference observables of all satellites of which cycle slip is not detected, and calculating a medium error rms; if rms is smaller than or equal to the set threshold B, all satellites are considered to have no cycle slip; if rms is larger than the set threshold B, the following judgment is performed:
a) If the observed carrier phase is double-frequency and no cycle slip is detected in the step 2, the cycle slip is still determined;
b) If the carrier phase observed quantity is single frequency and the three difference value T (k) is larger than the set threshold C, the cycle slip is considered;
c) If the observed carrier phase is single frequency and the three difference T (k) is smaller than or equal to the set threshold C, whether cycle slip exists or not cannot be confirmed;
step 5, calculating a baseline vector by using the satellite which is determined to be without cycle slip after the stepsIf->If the error is not greater than the set threshold D, the method adopts +.>The integer ambiguity of all satellites is calculated back, if the integer ambiguity calculated back is consistent with the integer ambiguity fixed in the previous epoch, no cycle slip is considered, otherwise, the cycle slip is considered; if->If the error is larger than the set threshold D, the ambiguity is required to be fixed again.
2. The joint cycle slip detection method adapted for dual antenna dynamic orientation of claim 1 wherein cycle slips greater than or equal to 5 weeks are considered large cycle slips and less than 5 weeks are considered small cycle slips.
3. The method for joint cycle slip detection adapted to dual antenna dynamic orientation as in claim 1 wherein in step 1, epsilon is detected by constructing the following 1 And (5) performing large cycle slip detection:
wherein Deltat is the time interval of two epochs, wherein k represents epoch number, phi is carrier phase; />Is Doppler frequency;
if epsilon 1 If the cycle slip is greater than the set threshold E, the cycle slip is considered to exist, otherwise, the cycle slip is considered to be absent.
4. A joint cycle slip detection method adapted for dual antenna dynamic orientation as in claim 3 wherein threshold E is 5.0.
5. The method for joint cycle slip detection adapted to dual antenna dynamic orientation as in claim 1 wherein in said step 2, the cycle slip detection amount ε is determined by constructing the following 2 And (3) performing double-frequency GF small cycle slip detection:
ε 2 ＝λ 1 φ 1 -λ 2 φ 2 ，
wherein lambda is 1 、λ 2 Representing two frequency carrier wavelengths phi 1 、φ 2 Carrier phases representing two frequencies;
if Δε=ε 2 (k)-ε 2 (k-1) is greater than a set threshold F, then cycle slip is considered, otherwise no cycle slip is considered.
6. The joint cycle slip detection method adapted for dual antenna dynamic orientation of claim 5 wherein threshold F is 0.04.
7. The joint cycle slip detection method adapted to dual-antenna dynamic orientation according to claim 1, wherein in the step 4, the calculation method of the error rms in the baseline vector variation Δb (k) is:
wherein H represents the observation matrix, T represents the column vector composed of all three difference observables,the estimated value of delta B (k) obtained by the least square method of the k epoch is represented, P is an observed quantity weight matrix, and n is the number of three difference observed quantities.
8. The joint cycle slip detection method adapted to dual antenna dynamic orientation according to claim 1, wherein in said step 5, use is made ofBack-calculating all satellite integer ambiguities, back-calculated integer ambiguities +.>The method comprises the following steps:
wherein i represents the satellite number,integer ambiguity representing back-calculation, +.>Representing carrier phase double difference, H i Representing the observation vector, |·| represents rounding.
9. The joint cycle slip detection method adapted for dual antenna dynamic orientation of claim 1 wherein said threshold a is 10.0; the threshold B is 0.1; the threshold C is 0.5; the threshold D takes 0.1.
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