CN112526493B - Pseudo code ranging secondary ambiguity determination method and device, electronic equipment and storage medium - Google Patents
Pseudo code ranging secondary ambiguity determination method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a method and a device for determining pseudo code ranging secondary ambiguity, electronic equipment and a storage medium, wherein the method comprises the following steps: aiming at the problem of secondary ambiguity which possibly occurs under the condition that a signal is seriously interfered during the acquisition of the pseudo code, the fault data with the secondary ambiguity is judged and recovered by utilizing the prior track information and the statistical characteristics of the measured data based on the basic principle of the acquisition of the pseudo code. The method and the device have the advantages that efficient and accurate secondary ambiguity judgment is achieved, the judgment result is reliable, fault pseudo code ranging data can be effectively recovered based on the judgment result, and the method and the device are used for high-precision navigation of the spacecraft.
Description
Technical Field
The embodiment of the application relates to a space measurement and control technology, in particular to a pseudo code ranging secondary ambiguity determining method and device, electronic equipment and a storage medium.
Background
The space measurement and control pseudo code ranging technology is an important measurement means for realizing high-precision navigation of a spacecraft, and can be divided into two modes of forwarding pseudo code ranging and regenerating pseudo code ranging according to different processing modes of the spacecraft on uplink pseudo code ranging signals. Compared with the traditional side-tone ranging technology, the pseudo code ranging can avoid complex operations of repeated ambiguity resolution; the regenerated pseudo code ranging can also avoid the influence of forwarding noise, and the ranging signal-to-noise ratio and the measurement precision are obviously improved in a deep space long-distance scene. From the development of the technical prototype to the present, the pseudo code ranging technology is mature day by day. The spatial Data System council (Committee for Space Data System, CCSDS) issued blue book on pseudo code ranging System as an important specification and basis for this technology. In recent years, the development of digital answering machines provides good conditions for the engineering application of the pseudo code ranging technology. The existing deep space answering machines at home and abroad are configured with a pseudo code distance measuring function, and ground tests or on-orbit applications are successfully developed.
One of the keys of the pseudo code ranging technique is pseudo code acquisition, i.e. the phase of different component codes in a composite code is obtained through correlation processing. The T4B or T2B code proposed by CCSDS is composed of 6 component codes C1-C6, and T4B and T2B are different in the weight of the component code C1. For the forwarded pseudo code ranging, only the ground station needs to perform pseudo code capturing operation; and the regenerated pseudo code ranging, the spacecraft and the ground station need to carry out pseudo code acquisition. Under normal conditions, the phases of all the component codes in the composite code can be correctly obtained by a reasonably designed correlation processing algorithm; however, if the signal is severely disturbed during the pseudocode acquisition, one or more of the 6 component code phases resulting from the pseudocode acquisition may be in error, resulting in "secondary ambiguity" in the ranging results.
The pseudo code ranging 'secondary' ambiguity is different from the whole ambiguity corresponding to the length of the pseudo code: under the condition of a certain chip rate, the integral ambiguity is a fixed value, and is easy to analyze and process according to a priori track; however, secondary ambiguities have uncertainty, and values are generally much smaller than overall ambiguities, and are not easily handled by conventional methods. Without a reasonable, feasible and reliable identification and processing method, the pseudo code ranging data with the secondary ambiguity can only be eliminated as outliers.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for determining a secondary ambiguity in pseudo code ranging, an electronic device, and a storage medium.
According to a first aspect of the present application, there is provided a pseudo code ranging secondary ambiguity determining method, including:
acquiring a one-way ranging value data sequence R (I) (1, 2, …, I) of pseudo code ranging of a spacecraft by a ground station, wherein the corresponding time is t (I) (1, 2, …, I); for each t (I), obtaining a one-way ranging theoretical value R0(I) of the ground station to the spacecraft based on the prior orbit and the ground station site (I is 1,2, …, I); calculating an initial value of the residual error of the measured data res (i) based on R (i) and R0 (i):
res(i)＝R(i)-R0(i) (15)
setting a threshold TH according to the prior orbit precision, and determining a reasonable residual difference set { res (j) } and a wild value residual difference set { res (k) } based on the TH:
wherein, the corresponding time scales of res (J) and res (K) are t (J) and t (K), the element numbers of the sets { J } and { K } are J, K, and J + K is I;
performing parameter fitting on the reasonable residual errors by adopting a quadratic function model to respectively obtain 0-order, 1-order and 2-order term coefficients p 0 、p 1 、p 2 Namely:
{p 0 ,p 1 ,p 2 }＝Fit2[{t(j)},{res(j)}] (17)
(3) where Fit2 represents a quadratic function Fit;
solving the standard deviation sigma of the fitted residual error:
updating the wild value residual error based on the fitting parameters obtained by the formula (3) to obtain an updated wild value residual error Res (k):
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (19)
dividing the updated outlier residual by the chip length and rounding to obtain the corresponding chip number N (k):
solving the remainder of the field value residual error after rounding the length of the chip:
wherein, F chip Is the uplink chip rate, c is the speed of light;
and judging whether the corresponding observation data has secondary ambiguity or not according to the obtained chip number and remainder, wherein the judgment conditions are as follows:
the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
the absolute value of the remainder r (k) is less than 5.0 σ;
the index satisfying the above condition is marked as l, l ∈ { k }, i.e. the observation data r (l) has secondary ambiguity.
As one implementation, the observation data R (i) l ) After the secondary ambiguity occurs, the method further comprises:
the data in which the secondary ambiguity occurs is corrected as follows:
according to a second aspect of the present application, there is provided a pseudo-code ranging secondary ambiguity determining apparatus, comprising:
a residual error preliminary calculation unit, configured to calculate an initial residual error value of the actually measured data: acquiring a one-way ranging value data sequence R (I) (1, 2, …, I) of the pseudo code ranging of the ground station to the spacecraft, wherein the corresponding time is t (I) (1, 2, …, I); for each t (I), obtaining a one-way ranging theoretical value R0(I) (I is 1,2, …, I) of the ground station to the spacecraft based on the prior orbit, the ground station site and the like; calculating an initial value of the residual error of the measured data res (i) based on R (i) and R0 (i):
res(i)＝R(i)-R0(i) (22)
a residual classification unit, configured to set a threshold TH according to the prior orbit precision, and determine a reasonable residual set { res (j) } and a wild value residual set { res (k) } based on the TH:
wherein, the corresponding time scales of res (J) and res (K) are t (J) and t (K), the element numbers of the sets { J } and { K } are J, K, and J + K is I;
a reasonable residual fitting unit for performing parameter fitting on the reasonable residual by using a quadratic function model to obtain 0,1 and 2 term coefficients p 0 、p 1 、p 2 Namely:
{p 0 ,p 1 ,p 2 }＝Fit2[{t(j)},{res(j)}] (24)
(3) where Fit2 represents a quadratic function Fit;
and the standard deviation calculation unit is used for solving the standard deviation sigma of the fitted residual error:
and (3) a outlier residual updating unit, configured to update the outlier residual based on the fitting parameter obtained in (3), so as to obtain an updated outlier residual res (k):
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (26)
a residual rounding and remainder unit for dividing the updated outlier residual by the chip length and rounding to obtain the corresponding number of chips N (k):
solving the remainder of the field value residual error after rounding the length of the chip:
wherein, F chip Is the uplink chip rate, c is the speed of light;
and the secondary ambiguity judging unit is used for judging whether the corresponding observation data has secondary ambiguity according to the remainder of the wild value residual error, and the judging conditions are as follows:
the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
the absolute value of the remainder r (k) is less than 5.0 σ;
and recording the index meeting the condition as l, l epsilon { k }, namely the observation data R (l) has secondary ambiguity.
As an implementation, the apparatus further comprises:
a correction unit for correcting the data in which the secondary ambiguity occurs, as follows:
according to a third aspect of embodiments of the present application, there is provided an electronic device, comprising a processor, a transceiver, a memory, and an executable program stored on the memory and executable by the processor, wherein the processor executes the executable program to perform the step of pseudo-code ranging secondary ambiguity determination.
According to a fourth aspect of embodiments herein, there is provided a storage medium having stored thereon an executable program which when executed by a processor performs the steps of pseudo-code ranging secondary ambiguity determination.
According to the method and the device for determining the secondary ambiguity of the pseudo code ranging, the electronic equipment and the storage medium, aiming at the problem of the secondary ambiguity which possibly occurs under the condition that a signal is seriously interfered during the pseudo code capturing period, on the basis of the principle of the pseudo code capturing, fault data with the secondary ambiguity is judged and recovered by using the prior orbit information and the statistical characteristics of the measured data, efficient and accurate secondary ambiguity judgment is achieved, the judgment result is reliable, on the basis of the judgment result, the fault pseudo code ranging data can be effectively recovered, and the method and the device are used for high-precision navigation of a spacecraft.
Drawings
Fig. 1 is a schematic flowchart of a pseudo code ranging secondary ambiguity determining method according to an embodiment of the present application;
fig. 2 is a diagram showing a result of performing S-band regenerated pseudo code ranging on a spacecraft and a signal-to-noise spectrum density ratio by a deep space measurement and control device according to an embodiment of the present application;
FIG. 3 is a diagram illustrating an initial value of a residual error of measured data calculated based on a one-way ranging theory according to an embodiment of the present application;
FIG. 4 is a graphical representation of a time series of reasonable residuals and a quadratic fit result according to an embodiment of the present application;
FIG. 5 is a diagram of field value residuals (top), corresponding chip numbers (middle), and remainder (bottom) after updating according to an embodiment of the present application;
FIG. 6 is a time series diagram of observation data after being corrected by secondary ambiguity according to the embodiment of the present application;
fig. 7 is a schematic structural diagram of a component of a pseudo code ranging secondary ambiguity determining apparatus according to an embodiment of the present application.
Detailed Description
The following further describes a specific embodiment of the present application with reference to S-band regenerated pseudo code ranging data of a certain spacecraft, which is carried out by a certain deep space measurement and control device in 2019, 5, month and 18.
The experimental data are as follows: chip rate F chip Is 2.0188263671875X 10 6 Hz, observed data during UTC time 14:46:13.000 to 15:30:00.000 were taken. In the time interval, the device carries out distance capture of pseudo code ranging on the spacecraft for multiple times, wherein secondary ambiguity occurs in a ranging value due to interference of a downlink signal in one time of distance capture. Fig. 2 shows the result of the regenerated pseudocode ranging in this period (upper graph) and the signal-to-noise spectral density ratio (lower graph), where the original data has a total of 2269 points. As seen from fig. 2: and abnormal jump exists in part of ranging results, and downlink ranging signals are seriously interfered in the time period.
The measured pseudocode range is denoted by r (i) (i ═ 1,2, …,2269) in m, and is denoted by t (i) (i ═ 1,2, …, 2269). And (3) calculating to obtain a corresponding 2269 point one-way ranging theoretical value which is recorded as R0(i) and has the unit of m according to the spacecraft prior orbit aiming at each time scale t (i). The speed of light c takes the value 299792458 m/s.
With the above data, the technical solution of the embodiment of the present application is further clarified as follows:
fig. 1 is a schematic flowchart of a method for determining a secondary ambiguity in pseudo code ranging provided in an embodiment of the present application, and as shown in fig. 1, the method for determining a secondary ambiguity in pseudo code ranging in an embodiment of the present application includes the following processing steps:
Calculating an initial value res (i) of the residual error of the measured data according to equation (1), as follows:
res(i)＝R(i)-R0(i) (1)
where i is 1,2, …, 2269. The specific result of the obtained initial value res (i) of the residual error of the measured data is shown in fig. 3. Setting the threshold TH to 10 according to the prior orbit precision 4 m, from which the residual sequences are divided into reasonable sets of residual differences { res (j) } and outlier residual sets { res (k) }:
the reasonable residual errors are 1931 points in total, namely J is 1931, and the values of the corresponding indexes J are 1-1089, 1418-1461, 1469-1530 and 1534-2269; and the wild value residuals have a total of 338 points, namely K is 338, and the values of the corresponding indexes K are 1090-1417, 1462-1468 and 1531-1533. The corresponding time labels of the reasonable residual and the outlier residual are respectively denoted as t (j) and t (k).
The outlier residuals are outlined in fig. 3 with a dashed box, and the remaining residuals are all reasonable residuals.
And 102, performing parameter fitting on the reasonable residual errors by adopting a quadratic function model, and solving a standard deviation.
Performing parameter fitting on the rational residual time sequence by using a quadratic function model to obtain 0-order, 1-order and 2-order term coefficients p 0 、p 1 、p 2 As shown in formula (3):
Fit2[{t(j)},{res(j)}]＝{p 0 ,p 1 ,p 2 }＝{494.6437,-66.3073,1.9520} (3)
in equation (3) above, Fit2 represents a quadratic function Fit. The standard deviation sigma of the fitted residuals is solved,
FIG. 4 shows a reasonable set of residual errors (res (j)) time series and a fitted curve of a quadratic function, shown as a dashed line in the figure.
And 103, updating the outlier residual based on the fitting parameters, and performing rounding and remainder calculation.
In the embodiment of the application, formula (5) is adopted, and the outlier residual is updated based on the fitting parameters obtained by formula (3), as follows:
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (5)
the updated outlier residual results are shown in the upper graph of fig. 5. Dividing the updated outlier residual by the chip length, then rounding off (round), solving for the corresponding chip number:
the results obtained for N (k) are shown in the middle panel of FIG. 5.
Solving the remainder of the field value residual after rounding the length of the chip:
the results obtained for r (k) are shown in the lower graph of FIG. 5.
And step 104, judging whether the corresponding observation data has secondary ambiguity according to the rounding and remainder results of the outlier residual error.
Confirming that the requirement of the secondary ambiguity of the observation data corresponding to the index k meets the following two judgment conditions:
condition 1: the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
condition 2: the absolute value of the remainder r (k) is less than 5.0 σ, 0.1835.
It is determined that the 321 point data (the dotted line frame in fig. 5) with indexes 1090-1410 in the 338 point outlier residual meets the above decision condition, and the corresponding chip number is-882840, which can be divided by two integers, 7 and 15. The index satisfying the above condition is denoted as l (l — 1090,1091, …,1410), that is, the observation data r (l) has secondary ambiguity.
And 105, correcting the data with the secondary ambiguity.
And aiming at the judgment result, correcting the data with the secondary ambiguity by adopting the following formula as follows:
the data obtained after correction is the data point outlined by the dotted line in fig. 6, which is used as a reference, and the pseudo code ranging data corresponding to reasonable residuals in other time periods are shown in the figure at the same time.
In the embodiment of the application, 321 observation data with secondary ambiguity is accurately judged by a pseudo code ranging secondary ambiguity judging and solving method, and all the observation data are corrected. The corrected observation data is consistent with the normal observation data in trend, the result is reliable, and the method can be used for high-precision navigation of the spacecraft.
Fig. 7 is a schematic structural diagram of a composition of the pseudo code ranging secondary ambiguity determining apparatus according to the embodiment of the present application, and as shown in fig. 7, the pseudo code ranging secondary ambiguity determining apparatus according to the embodiment of the present application includes:
a residual error preliminary calculation unit 70, configured to calculate an initial value of a residual error of the actually measured data: acquiring a one-way ranging value data sequence R (I) (1, 2, …, I) of the pseudo code ranging of the ground station to the spacecraft, wherein the corresponding time is t (I) (1, 2, …, I); for each t (I), obtaining a one-way ranging theoretical value R0(I) of the ground station to the spacecraft based on the prior orbit and the ground station site (I is 1,2, …, I); calculating an initial value of the residual error of the measured data res (i) based on R (i) and R0 (i):
res(i)＝R(i)-R0(i) (29)
a residual classification unit 71, configured to set a threshold TH according to the prior track precision, and determine a reasonable residual set { res (j) } and a wild value residual set { res (k) } based on the threshold TH:
wherein, the corresponding time scales of res (J) and res (K) are t (J) and t (K), the element numbers of the sets { J } and { K } are J, K, and J + K is I;
a rational residual fitting unit 72 for employingThe quadratic function model carries out parameter fitting on the reasonable residual error to respectively obtain 0-order, 1-order and 2-order term coefficients p 0 、p 1 、p 2 Namely:
{p 0 ,p 1 ,p 2 }＝Fit2[{t(j)},{res(j)}] (31)
(3) where Fit2 represents a quadratic function Fit;
a standard deviation calculation unit 73 for solving a standard deviation σ of the fitted residual:
a outlier residual updating unit 74, configured to update the outlier residual based on the fitting parameter obtained in (3), so as to obtain an updated outlier residual res (k):
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (33)
a residual rounding and remainder unit 75, configured to divide the updated outlier residual by the chip length and round the result, and solve the corresponding number of chips n (k):
solving the remainder of the field value residual after rounding the length of the chip:
wherein, F chip Is the uplink chip rate, c is the speed of light;
and a secondary ambiguity judging unit 76, configured to judge whether a secondary ambiguity exists in the corresponding observation data according to a remainder of the wild value residual error, where the judgment condition is as follows:
the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
the absolute value of the remainder r (k) is less than 5.0 σ;
the index satisfying the above condition is marked as l, l ∈ { k }, i.e. the observation data r (l) has secondary ambiguity.
On the basis of the pseudo code ranging secondary ambiguity determining apparatus shown in fig. 7, the pseudo code ranging secondary ambiguity determining apparatus according to the embodiment of the present application further includes:
a correction unit (not shown in fig. 7) for correcting the data in which the secondary blur degree occurs, as follows:
in an exemplary embodiment, the residual preliminary calculation Unit 70, the residual classification Unit 71, the rational residual fitting Unit 72, the standard deviation calculation Unit 73, the outlier residual update Unit 74, the residual rounding and complementation Unit 75, the secondary ambiguity determination Unit 76, the correction Unit, and the like may be implemented by one or more Central Processing Units (CPUs), Central Processing units (GPUs), Graphics Processing Units (GPUs), Baseband Processors (BPs), Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), Field Programmable Gate Array (FPGAs), general purpose processors (GPUs), controllers, Micro controllers (controllers), and the like, Or other electronic components, and may also be implemented in combination with one or more Radio Frequency (RF) antennas for performing the communication methods of the foregoing embodiments.
In the embodiment of the present disclosure, the specific manner in which each unit in the pseudo-code ranging secondary ambiguity determining apparatus shown in fig. 7 performs operations has been described in detail in the embodiment related to the method, and will not be elaborated herein.
The embodiment of the present disclosure further describes an electronic device, which includes a processor, a transceiver, a memory, and an executable program stored on the memory and capable of being executed by the processor, and when the processor executes the executable program, the steps of the pseudo code ranging secondary ambiguity determining method according to the foregoing embodiment are executed.
The disclosed embodiments also recite a storage medium having stored thereon an executable program that is executed by a processor to perform the steps of the pseudo-code ranging secondary ambiguity determination method of the aforementioned embodiments.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not imply an order of execution, and the order of execution of the processes should be determined by their functions and internal logics, and should not limit the implementation processes of the embodiments of the present invention in any way. The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element identified by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are only illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A pseudo-code ranging secondary ambiguity determination method, comprising:
acquiring a one-way ranging value data sequence R (I) for pseudo code ranging of a spacecraft by a ground station, wherein I is 1,2, … and I, and the corresponding time is t (I), I is 1,2, … and I; for each t (I), obtaining a one-way ranging theoretical value R0(I) of the ground station to the spacecraft based on the prior orbit and the ground station site, wherein I is 1,2, … and I; calculating an initial value of the residual error of the measured data res (i) based on R (i) and R0 (i):
res(i)＝R(i)-R0(i) (1)
setting a threshold TH according to the prior orbit precision, and determining a reasonable residual difference set { res (j) } and a wild value residual difference set { res (k) } based on the TH:
wherein, the corresponding time scales of res (J) and res (K) are t (J) and t (K), the element numbers of the sets { J } and { K } are J, K, and J + K is I;
performing parameter fitting on the reasonable residual errors by adopting a quadratic function model to respectively obtain 0-order, 1-order and 2-order term coefficients p 0 、p 1 、p 2 Namely:
{p 0 ,p 1 ,p 2 }＝Fit2[{t(j)},{res(j)}] (3)
(3) where Fit2 represents a quadratic function Fit;
solving the standard deviation sigma of the fitted residuals:
updating the wild value residual error based on the fitting parameters obtained by the formula (3) to obtain an updated wild value residual error Res (k):
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (5)
dividing the updated outlier residual by the chip length and rounding to obtain the corresponding chip number N (k):
solving the remainder of the field value residual after rounding the length of the chip:
wherein, F chip Is the uplink chip rate, c is the speed of light;
and judging whether the corresponding observation data has secondary ambiguity or not according to the obtained chip number and remainder, wherein the judgment conditions are as follows:
the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
the absolute value of the remainder r (k) is less than 5.0 σ;
the index satisfying the above condition is marked as l, l ∈ { k }, i.e. the observation data r (l) has secondary ambiguity.
2. The method of claim 1, wherein after the observation data r (l) has undergone secondary ambiguity, the method further comprises:
the data in which the secondary ambiguity occurs is corrected as follows:
3. a pseudo-code ranging secondary ambiguity determination apparatus, comprising:
and the residual error preliminary calculation unit is used for calculating an initial value of the residual error of the actually measured data: acquiring a one-way ranging value data sequence R (I) of ranging of a ground station to a spacecraft pseudo code, wherein I is 1,2, … and I, and the corresponding time is t (I), I is 1,2, … and I; for each t (I), obtaining a one-way ranging theoretical value R0(I) of the ground station to the spacecraft based on the prior orbit and the ground station site, wherein I is 1,2, … and I; calculating an initial value res (i) of the residual error of the measured data based on R (i) and R0 (i):
res(i)＝R(i)-R0(i) (8)
a residual classification unit, configured to set a threshold TH according to the prior orbit precision, and determine a reasonable residual set { res (j) } and a wild value residual set { res (k) } based on the TH:
wherein, res (J) and res (K) are respectively corresponding time scales t (J) and t (K), the element numbers of the sets of J and K are respectively J, K, and J + K is I;
a reasonable residual fitting unit for performing parameter fitting on the reasonable residual by using a quadratic function model to obtain 0,1 and 2 term coefficients p 0 、p 1 、p 2 Namely:
{p 0 ,p 1 ,p 2 }＝Fit2[{t(j)},{res(j)}] (10)
(3) where Fit2 represents a quadratic function Fit;
and the standard deviation calculation unit is used for solving the standard deviation sigma of the fitted residual error:
and (4) a wild value residual error updating unit used for updating the wild value residual error based on the fitting parameters obtained in the step (3) to obtain an updated wild value residual error Res (k):
Res(k)＝res(k)-p 0 -p 1 ·t(k)-p 2 ·t(k) 2 (12)
a residual rounding and remainder unit for dividing the updated outlier residual by the chip length and rounding to obtain the corresponding number of chips N (k):
solving the remainder of the field value residual after rounding the length of the chip:
wherein, F chip Is the uplink chip rate, c is the speed of light;
and the secondary ambiguity judging unit is used for judging whether the corresponding observation data has secondary ambiguity according to the remainder of the wild value residual error, and the judging conditions are as follows:
the number of chips N (k) is divisible by at least one of 7, 11, 15, 17, 19;
the absolute value of the remainder r (k) is less than 5.0 σ;
the index satisfying the above condition is marked as l, l ∈ { k }, i.e. the observation data r (l) has secondary ambiguity.
4. The apparatus of claim 3, further comprising:
a correction unit for correcting the data in which the secondary ambiguity occurs, as follows:
5. an electronic device comprising a processor, a transceiver, a memory, and an executable program stored on the memory and executable by the processor, the processor when executing the executable program performing the steps of the pseudo-code ranging secondary ambiguity determination method of claim 1 or 2.
6. A storage medium having stored thereon an executable program which, when executed by a processor, carries out the steps of the pseudo-code ranging secondary ambiguity determination method of claim 1 or 2.
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