CN114363819B - Cycle slip repairing method for high-precision area positioning navigation system of foundation - Google Patents
Cycle slip repairing method for high-precision area positioning navigation system of foundation Download PDFInfo
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Abstract
The application relates to a method, a device and equipment for repairing cycle slip of a foundation high-precision area positioning navigation system. The method comprises the following steps: acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; if the Doppler residual error at the current moment is larger than the cycle slip detection threshold, judging that cycle slip occurs on the carrier phase observed value of the corresponding base station received by the receiver, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again. The method can avoid errors caused by immediate repair when cycle slip does not occur.
Description
Technical Field
The application relates to the field of foundation radio positioning navigation, in particular to a method, a device and equipment for repairing cycle slip of a foundation high-precision regional positioning navigation system.
Background
Currently, location Based Services (LBS) have become an indispensable important part in mass life, and along with expansion of service fields and diversification of service contents, various fields such as internet of vehicles and indoor positioning have put higher demands on accurate location services. In high precision positioning services, global Navigation Satellite Systems (GNSS) are the most widely used means of various positioning systems, with real-time kinematic (RTK) and precision single point positioning (PPP) being the most common modes of operation. However, in some complex environments, GNSS-based positioning services have many limitations in terms of accuracy, reliability, and continuity. People often shuttle in urban canyons consisting of tall buildings and even drive or ride cars into underground tunnels, parking lots. In the above scenario, the GNSS signal is blocked and degraded, resulting in serious degradation of its positioning accuracy and even failure to provide positioning services.
The foundation high-precision area positioning navigation system is convenient to install and can independently provide high-precision, high-reliability and high-environmental-adaptability position services in a limited area. The system can work cooperatively with the satellite navigation system and can also work independently under the conditions that the satellite navigation system is interfered, blocked and the like and cannot be used. However, in a complex urban environment, phenomena such as signal shielding, multipath reflection and the like often occur, so that signal tracking of a receiver is abnormal, and the foundation high-precision area positioning navigation system faces the cycle slip problem as other systems for realizing high-precision positioning by adopting carrier phase observance. In high-precision carrier phase measurement, a jump or interruption of the whole cycle count due to signal loss lock is called cycle slip. If a cycle slip occurs in a epoch, the observed quantity of all epochs after the epoch will increase the same deviation, thereby affecting the measurement result. Correctly detecting the cycle slip is only the first step, and correctly repairing the cycle slip can ensure the continuity of positioning.
During actual operation of the ground-based high-precision area-positioning navigation system receiver, cycle slip does not always occur instantaneously and end, sometimes over a period of time. Current cycle slip repair methods employ a "find-and-repair" strategy that will result in error repair in the event that a cycle slip occurs and ends non-instantaneously.
Disclosure of Invention
Accordingly, it is necessary to provide a method, a device and equipment for repairing the cycle slip of the high-precision area positioning navigation system of the foundation, which can effectively repair the cycle slip.
A method for repairing a cycle slip of a high-precision area positioning navigation system of a foundation, the method comprising:
according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
when a plurality of base stations are utilized for navigation and positioning of a moving carrier, if the Doppler residual error at the current moment is larger than a cycle slip detection threshold value, judging that the carrier phase observed value of the corresponding base station received by a receiver is cycle slip, and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station;
when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again, the carrier phase residual error at the current moment is obtained according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and the carrier phase observed value of the corresponding base station received by the receiver is repaired according to the carrier phase residual error.
In one embodiment, according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock difference and the Zhong Piao estimated value, obtain the Doppler estimated value of the current time of the receiver, including:
wherein,doppler estimation value representing the navigation signal of the receiving base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u Respectively estimating values of speed and Zhong Piao of the receiver at the current moment, I i Is the unit observation vector.
In one embodiment, a motion equation of the motion carrier is established, and according to state parameters of the receiver at a previous time, including estimated values of position, speed, clock difference and Zhong Piao and the motion equation, an estimated value of the state parameters of the receiver at the current time is obtained:
wherein p= (x y z) T For the three-dimensional coordinates of the receiver, v= (v e v n v u ) T Dt, the three-dimensional velocity vector of the receiver u And df u Estimated value, T, for the clock difference and Zhong Piao of the receiver, respectively s For the signal acquisition period, I is an identity matrix, and subscripts k and k+1 represent k time and k+1 time, respectively.
In one embodiment, the Doppler residual expression is:
wherein ΔD is i Indicating the doppler residual corresponding to base station i,the Doppler observation value of the navigation signal of the base station i is received by a receiver, and M represents the number of the base stations;
doppler residual error delta D of corresponding base station i received by receiver i When the carrier phase observation value is larger than the cycle slip detection threshold value, judging that the carrier phase observation value of the corresponding base station i received by the receiver is cycle slip; when the carrier phase observation value of the base station i is detected to generate cycle slip, the Doppler observation value and the carrier phase observation value of the base station i are not used in the positioning resolving process.
In one embodiment, when ΔD of the corresponding base station i When the carrier phase residual error is smaller than the cycle slip detection threshold value, the carrier phase estimated value and the carrier phase observed value of the corresponding base station are differenced to obtain the carrier phase residual error at the current moment, and the carrier phase residual error at the current moment is used as the ambiguity correction value:
wherein the method comprises the steps ofAmbiguity correction value corresponding to base station i, +.>Representing the load corresponding to base station iWave phase estimate,/->Representing a carrier phase observation value corresponding to the base station i;
repairing the carrier phase observed value of the corresponding base station i received by the receiver according to the ambiguity correction value;
and recovering the Doppler observed value and the carrier phase observed value of the corresponding restored base station i in the positioning calculation process.
In one embodiment, if the statistical characteristic of the doppler residual history data is normal distribution, the standard deviation of the doppler residual statistical data corresponding to each base station is calculated, and the standard deviation is multiplied by 3 according to the 3 sigma criterion of the normal distribution, so as to obtain the cycle slip detection threshold.
A device for repairing a cycle slip of a high-precision area positioning navigation system of a foundation, the device comprising:
the estimated value calculating module is used for obtaining Doppler estimated value of the current moment of the receiver according to the position of the base station, the state parameters of the current moment of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value; wherein the receiver is mounted on a moving carrier;
the Doppler residual error acquisition module is used for acquiring a Doppler observed value of the receiver at the current moment and acquiring Doppler residual error at the current moment according to the Doppler estimated value and the Doppler observed value;
the cycle slip detection threshold determining module is used for determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
the cycle slip judging module is used for judging that the carrier phase observed value of the corresponding base station received by the receiver is cycle slip when the Doppler residual error at the current moment is larger than the cycle slip detection threshold value and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station when the plurality of base stations are utilized for carrying out navigation positioning on the moving carrier;
and the cycle slip repairing module is used for obtaining the carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold value again, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error.
A receiver comprising a memory and a processor, the memory storing a lower computer program, the processor implementing the following steps when executing the lower computer program:
according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data;
when a plurality of base stations are utilized for navigation and positioning of a moving carrier, if the Doppler residual error at the current moment is larger than a cycle slip detection threshold value, judging that the carrier phase observed value of the corresponding base station received by a receiver is cycle slip, and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station;
when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again, the carrier phase residual error at the current moment is obtained according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and the carrier phase observed value of the corresponding base station received by the receiver is repaired according to the carrier phase residual error.
According to the method, the device and the equipment for repairing the cycle slip of the foundation high-precision area positioning navigation system, firstly, according to the position of the base station, the state parameters of the current moment of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, the Doppler estimated value of the current moment of the receiver is obtained; wherein the receiver is mounted on a moving carrier; acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; when the measured values of a plurality of base stations are utilized to carry out navigation positioning of a moving carrier, if the Doppler residual error at the current moment is larger than a cycle slip detection threshold value, judging that the carrier phase observed value of the corresponding base station received by a receiver takes cycle slip, shielding the Doppler observed value and the carrier phase observed value of the corresponding base station, and continuing to work by using the observed quantity corresponding to the base station with the normal judgment, wherein the Doppler observed value is actually an adjustment parameter of a phase-locked loop (PLL), and abnormal jitter of the PLL continuously occurs in the cycle slip occurrence process until the cycle slip is completed. When the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold value again, the PLL tracking loop is restored to be normal, and the carrier phase residual error can be utilized to carry out cycle slip repair at the moment, so that errors caused by the fact that the cycle slip is repaired immediately after the occurrence of the cycle slip can be avoided.
Drawings
FIG. 1 is a schematic workflow diagram of a method for repairing cycle slip of a high-precision area positioning navigation system of a foundation in one embodiment;
fig. 2 is a block diagram of a cycle slip repairing device of a high-precision area positioning navigation system for a foundation according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a cycle slip repairing method of a high-precision area positioning navigation system of a foundation is provided, which comprises the following steps:
step 102, according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier.
In the step, the motion carrier can be a passenger vehicle, a ship, an unmanned vehicle and the like, and the motion equation of the motion carrier can be constructed according to the motion characteristics of different motion carriers.
Because the receiver is arranged on the motion carrier, when the base station in the high-precision area positioning navigation system of the foundation and the receiver have relative motion in position, the frequency of the signal acquired by the receiver has a certain difference relative to the transmitting frequency of the base station, and the frequency difference between the two is the Doppler observation value; according to the position of the base station, the state parameters of the receiver at the current moment, including the position, the speed, the clock error and the Zhong Piao estimated value, calculate the Doppler estimated value at the current moment.
Step 104, obtaining the Doppler observation value and the carrier phase observation value of the receiver at the current moment, and obtaining the Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value.
And according to the Doppler observed value of the receiver of the foundation high-precision area positioning navigation system at the current moment, performing difference calculation with the Doppler estimated value, and obtaining the Doppler residual error at the current moment.
And step 106, determining a cycle slip detection threshold according to the statistical characteristics of the Doppler residual error historical data.
The historical time is all times before the current time, doppler residual errors corresponding to the time when no cycle slip occurs in each base station before the current time form statistical data, a cycle slip detection threshold value is calculated according to the statistical characteristics of the Doppler residual error data, the observed quantity corresponding to each base station is detected by using the cycle slip detection threshold value as a judgment standard, and whether the carrier phase measured value corresponding to the detected base station has cycle slip is judged.
And step 108, when the plurality of base stations are utilized to carry out navigation positioning of the moving carrier, if the Doppler residual error at the current moment is larger than the cycle slip detection threshold value, judging that the carrier phase observed value of the corresponding base station received by the receiver is cycle slip, and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station.
When the plurality of base stations are utilized to carry out navigation and positioning of the motion carrier, if one of the base stations is the base station with cycle slip, the Doppler observation value and the carrier phase observation value of the base station are shielded, and the observation quantity corresponding to the remaining base stations with normal judgment is used for positioning.
Step 110, when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again, obtaining the carrier phase residual error of the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error.
In the normal operation process of the foundation high-precision area positioning navigation system, cycle slip of the carrier phase observation value of the corresponding base station received by the receiver does not always occur instantaneously and end, sometimes the cycle slip is accumulated continuously for a period of time, the Doppler observation value is actually an adjustment parameter of a phase-locked loop (PLL), abnormal jitter of the PLL continuously occurs in the cycle slip occurrence process until the cycle slip is completed, when the Doppler residual error of the base station with the cycle slip is detected to be smaller than the cycle slip detection threshold value again, the PLL tracking loop is indicated to be recovered to be normal, at the moment, cycle slip repair can be carried out by utilizing the carrier phase residual error, and the carrier phase residual error is a carrier phase ambiguity correction value, so that the carrier phase observation value with the cycle slip is recovered to be normal.
According to the method, the device and the equipment for repairing the cycle slip of the foundation high-precision area positioning navigation system, firstly, according to the position of the base station, the state parameters of the current moment of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, the Doppler estimated value of the current moment of the receiver is obtained; wherein the receiver is mounted on a moving carrier; acquiring a Doppler observation value of the receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value; determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; when a plurality of base stations are utilized to carry out navigation and positioning of a moving carrier, if the Doppler residual error at the current moment is larger than a cycle slip detection threshold value, judging that the carrier phase observation value of the corresponding base station received by a receiver is in cycle slip, shielding the Doppler observation value and the carrier phase observation value of the corresponding base station, enabling the system to continue working by using the observation quantity corresponding to the base station with normal judgment, wherein the Doppler observation value is actually an adjustment parameter of a phase-locked loop (PLL), continuously carrying out abnormal jitter on the PLL in the cycle slip process until the cycle slip is finished, and when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold value again, indicating that the PLL tracking loop is recovered to be normal, and at the moment, carrying out cycle slip repair by utilizing the carrier phase residual error, thereby avoiding errors generated by immediate repair when the cycle slip is not finished.
In one embodiment, obtaining the estimated value of the doppler observed quantity at the current time according to the position of the base station and the estimated value of the state parameter at the current time of the receiver includes:
wherein,doppler estimation value representing the navigation signal of the receiving base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u Respectively estimating values of speed and Zhong Piao of the receiver at the current moment, I i Is the unit observation vector.
Wherein I type i A unit observation vector representing a base station i at a receiver, comprising:
p i ＝(x i y i z i ) T is the three-dimensional coordinate of the base station i, r i For the geometrical distance between the receiver and the positioning base station i, comprising:
in one embodiment, a motion equation of the motion carrier is established, and an estimated value of the state parameter of the receiver at the current moment is obtained according to the state parameter of the receiver at the previous moment, including the estimated values of the position, the speed, the clock difference and Zhong Piao, and the motion equation; the carrier motion equation comprises a constant velocity motion equation, a constant acceleration motion equation and the like, and can also construct a more accurate carrier motion equation according to the carrier acceleration and the angular velocity measured by an Inertial Measurement Unit (IMU). For carriers with low dynamic performance such as pedestrians, vehicles, ships and the like, the motion equation can be expressed by a constant speed motion equation:
wherein p= (x y z) T For the three-dimensional coordinates of the receiver, v= (v e v n v u ) T Dt, the three-dimensional velocity vector of the receiver u And df u Estimated value, T, for the clock difference and Zhong Piao of the receiver, respectively s For the signal acquisition period, I is an identity matrix, and subscripts k and k+1 represent k time and k+1 time, respectively.
In this embodiment, the motion equation of the motion carrier generally adopts a constant velocity motion model, and if the state parameters of the previous moment, including the position, the velocity, the receiver clock difference and the Zhong Piao estimated value, are all unbiased estimated values, the estimated value of the Doppler observed quantity at the current moment should also be unbiased, so that the Doppler residual error can be used as the cycle slip detection quantity.
In one embodiment, the Doppler residual expression is:
wherein ΔD is i Indicating the doppler residual corresponding to base station i,the Doppler observation value of the navigation signal of the base station i received by the receiver is represented, and M represents the number of the base stations.
In one embodiment, the Doppler residual DeltaD of the corresponding base station i is received by the receiver i When the carrier phase observation value is larger than the cycle slip detection threshold value, judging that the carrier phase observation value of the corresponding base station i received by the receiver is cycle slip; when the carrier phase observation value of the base station i is detected to generate cycle slip, the Doppler observation value and the carrier phase observation value of the base station i are not used in the positioning resolving process.
After the Doppler observation value and the carrier phase observation value of the base station i are shielded, the rest normal base stations in the foundation high-precision area positioning navigation system are used for positioning.
In one embodiment, when ΔD of the corresponding base station i When the carrier phase residual error is smaller than the cycle slip detection threshold value, the carrier phase estimated value and the carrier phase observed value of the corresponding base station are differenced to obtain the carrier phase residual error at the current moment, and the carrier phase residual error at the current moment is used as the ambiguity correction value:
wherein the method comprises the steps ofAmbiguity correction value corresponding to base station i, +.>Representing the carrier phase estimate corresponding to base station i, < >>Representing a carrier phase observation value corresponding to the base station i;
repairing the carrier phase observed value of the corresponding base station i received by the receiver according to the ambiguity correction value;
and recovering the Doppler observed value and the carrier phase observed value of the corresponding restored base station i in the positioning calculation process.
After the cycle slip occurs in the base station i, the carrier phase ambiguity of the base station i will change, so that the carrier phase observation value will change. Cycle slip does not always occur instantaneously and end, sometimes it may continue to accumulate for some time, the doppler observation is actually an adjustment parameter of the Phase Locked Loop (PLL), and during cycle slip occurrence, abnormal jitter continues to occur in the PLL until the cycle slip is completed. When the Doppler residual error of the cycle slip base station is detected to be smaller than the cycle slip detection threshold value again, the PLL tracking loop is recovered to be normal, and at the moment, the carrier phase residual error is utilized for carrier phase ambiguity repair, so that errors generated by repair when the cycle slip is not completed can be avoided.
In one embodiment, if the statistical characteristic of the doppler residual history data is normal distribution, the standard deviation of the doppler residual statistical data corresponding to each base station is calculated, and the standard deviation is multiplied by 3 according to the 3 sigma criterion of the normal distribution, so as to obtain the cycle slip detection threshold.
In the running process of the foundation high-precision area positioning navigation system, if no cycle slip occurs in the base station at the current moment, adding the Doppler residual error of the base station at the current moment into the Doppler residual error statistical data to perform the calculation mode, obtaining a new cycle slip detection threshold value, and using the new cycle slip detection threshold value as a cycle slip detection standard of the base station at the next moment. It is thus known that the cycle slip detection threshold is updated continuously over time and that the cycle slip detection threshold is updated over time closer to the real case.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 2, there is provided a cycle slip repairing device of a high-precision area positioning navigation system of a foundation, comprising: a calculate estimate module 202, an acquire doppler residual module 204, a determine cycle slip detection threshold module 206, a determine Zhou Tiaomo block 208, and a cycle slip repair module 210, wherein:
the estimated value calculating module 202 is configured to obtain a doppler estimated value of the current time of the receiver according to the position of the base station, and state parameters of the current time of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value; wherein the receiver is mounted on a moving carrier;
the Doppler residual error acquisition module 204 is configured to acquire a Doppler observed value at a current time of the receiver, and obtain a Doppler residual error at the current time according to the Doppler estimated value and the Doppler observed value;
a cycle slip detection threshold determination module 206, configured to determine a cycle slip detection threshold according to statistical characteristics of the doppler residual error history data;
the cycle slip judging module 208 is configured to judge that, when the motion carrier navigation positioning is performed by using the plurality of base stations, if the doppler residual error at the current moment is greater than the cycle slip detection threshold, cycle slip occurs in the carrier phase observed value of the corresponding base station received by the receiver, and mask the doppler observed value and the carrier phase observed value of the corresponding base station;
and the cycle slip repairing module 210 is configured to, when detecting that the doppler residual error of the corresponding base station is smaller than the cycle slip detection threshold again, obtain a carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and repair the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error.
In one embodiment, the calculating an estimated value module 202 is further configured to obtain, according to the location of the base station, the state parameters of the current time of the receiver, including the location, the speed, the clock difference, and the Zhong Piao estimated value, a doppler estimated value of the current time of the receiver, including:
wherein,doppler estimation value representing the navigation signal of the receiving base station i, lambda is the wavelength of the navigation signal, c is the speed of light, v and df u Respectively estimating values of speed and Zhong Piao of the receiver at the current moment, I i Is the unit observation vector.
In another embodiment, the estimated value calculating module 202 is further configured to establish a motion equation of the motion carrier, and obtain, according to the state parameters of the receiver at the current time, the estimated values of the state parameters of the receiver at the current time, including the estimated values of the position, the speed, the clock difference and Zhong Piao, and the motion equation:
wherein p= (x y z) T For the three-dimensional coordinates of the receiver, v= (v e v n v u ) T Dt, the three-dimensional velocity vector of the receiver u And df u Estimated value, T, for the clock difference and Zhong Piao of the receiver, respectively s For the signal acquisition period, I is an identity matrix, and subscripts k and k+1 represent k time and k+1 time, respectively.
In another embodiment, the doppler residual expression is:
wherein ΔD is i Indicating the doppler residual corresponding to base station i,the Doppler observation value of the navigation signal of the base station i is received by a receiver, and M represents the number of the base stations;
the cycle slip judgment module 208 is further configured to receive the doppler residual Δd of the corresponding base station i at the receiver i When the carrier phase observation value is larger than the cycle slip detection threshold value, judging that the carrier phase observation value of the corresponding base station i received by the receiver is cycle slip; when detecting the carrier phase view of base station iAfter the cycle slip occurs in the measured value, the Doppler observed value and the carrier phase observed value of the base station i are not used in the positioning calculation process.
In one embodiment, the cycle slip repair module 210 is further configured to determine Δd when the corresponding base station is i When the carrier phase residual error is smaller than the cycle slip detection threshold value, the carrier phase estimated value and the carrier phase observed value of the corresponding base station are differenced to obtain the carrier phase residual error at the current moment, and the carrier phase residual error at the current moment is used as the ambiguity correction value:
wherein the method comprises the steps ofAmbiguity correction value corresponding to base station i, +.>Representing the carrier phase estimate corresponding to base station i, < >>Representing a carrier phase observation value corresponding to the base station i;
repairing the carrier phase observed value of the corresponding base station i received by the receiver according to the ambiguity correction value;
and recovering the Doppler observed value and the carrier phase observed value of the corresponding restored base station i in the positioning calculation process.
In one embodiment, the cycle slip detection threshold determining module 206 is further configured to calculate a standard deviation of the doppler residual error statistics corresponding to each base station if the statistics of the doppler residual error history data is a normal distribution, and multiply the standard deviation by 3 according to a 3σ criterion of the normal distribution, so as to obtain a cycle slip detection threshold.
The specific limitation of the cycle slip repairing device of the high-precision area positioning navigation system of the foundation can be referred to as the limitation of the cycle slip repairing method of the high-precision area positioning navigation system of the foundation, and the description is omitted here. The modules in the cycle slip repairing device of the foundation high-precision area positioning navigation system can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the receiver, or may be stored in software in a memory in the receiver, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a receiver is provided, comprising a memory storing a lower computer program and a processor implementing the steps of the method of the above embodiments when the lower computer program is executed.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (6)
1. The method for repairing the cycle slip of the high-precision area positioning navigation system of the foundation is characterized by comprising the following steps:
according to the position of the base station, the state parameters of the current time of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value, obtain the Doppler estimated value of the current time of the receiver; wherein the receiver is mounted on a moving carrier;
acquiring a Doppler observation value of a receiver at the current moment, and acquiring a Doppler residual error at the current moment according to the Doppler estimation value and the Doppler observation value;
determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; the historical time is all the time before the current time, doppler residual errors corresponding to the time when the previous base stations do not generate cycle slip form statistical data, a cycle slip detection threshold value is calculated according to the statistical characteristics of the Doppler residual error data, the cycle slip detection threshold value is used as a judgment standard to detect observed quantity corresponding to each base station, and whether the carrier phase measurement value corresponding to the detected base station generates cycle slip is judged;
the determining the cycle slip detection threshold according to the statistical characteristics of the Doppler residual error historical data comprises the following steps:
if the statistical characteristics of the Doppler residual error historical data are normal distribution, calculating the standard deviation of Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain the cycle slip detection threshold;
when a plurality of base stations are utilized to carry out navigation and positioning of a moving carrier, if the Doppler residual error at the current moment is larger than the cycle slip detection threshold value, judging that the carrier phase observed value of the corresponding base station received by a receiver is cycle slip, and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station;
when the Doppler residual error of the corresponding base station is detected to be smaller than a cycle slip detection threshold again, obtaining a carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error;
and when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again, obtaining a carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error, wherein the method comprises the following steps:
when DeltaD of the corresponding base station i Estimating the carrier phase of the corresponding base station when the cycle slip detection threshold is smaller than the cycle slip detection thresholdThe value and the observed value of the carrier phase are differenced to obtain a carrier phase residual error at the current moment, and the carrier phase residual error at the current moment is used as an ambiguity correction value:
wherein the method comprises the steps ofAmbiguity correction value corresponding to base station i, +.>Representing the carrier phase estimate corresponding to base station i,representing a carrier phase observation value corresponding to the base station i;
repairing the carrier phase observed value of the corresponding base station i received by the receiver according to the ambiguity correction value;
and recovering the Doppler observed value and the carrier phase observed value of the corresponding restored base station i in the positioning calculation process.
2. The method of claim 1 wherein the obtaining the doppler estimate for the current time of the receiver based on the location of the base station and the state parameters of the current time of the receiver including the location, the velocity, the clock bias, and the Zhong Piao estimate comprises:
wherein,doppler estimated value representing navigation signal of base station i received by receiver, lambda is navigation signalC is the speed of light, v and df u Respectively estimating values of speed and Zhong Piao of the receiver at the current moment, I i Is the unit observation vector.
3. The method according to claim 1, wherein the method further comprises:
establishing a motion equation of the motion carrier, and obtaining an estimated value of the state parameter of the current moment of the receiver according to the state parameter of the last moment of the receiver, including the estimated values of position, speed, clock error and Zhong Piao and the motion equation:
wherein p= (x y z) T For the three-dimensional coordinates of the receiver, v= (v e v n v u ) T Dt, the three-dimensional velocity vector of the receiver u And df u Estimated value, T, for the clock difference and Zhong Piao of the receiver, respectively s For the signal acquisition period, I is an identity matrix, and subscripts k and k+1 represent k time and k+1 time, respectively.
4. The method of claim 1, wherein the doppler residual expression is:
wherein ΔD is i Indicating Doppler residual error corresponding to base station i, di A The Doppler observation value of the navigation signal of the base station i is received by a receiver, and M represents the number of the base stations;
if the Doppler residual error at the current moment is greater than the cycle slip detection threshold, judging that the cycle slip occurs in the carrier phase observed value of the corresponding base station received by the receiver, and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station, wherein the method comprises the following steps:
when the receiver receives the correspondingDoppler residual DeltaD of base station i i When the carrier phase observation value is larger than the cycle slip detection threshold value, judging that the carrier phase observation value of the corresponding base station i received by the receiver is cycle slip; when the carrier phase observation value of the base station i is detected to generate cycle slip, the Doppler observation value and the carrier phase observation value of the base station i are not used in the positioning resolving process.
5. A cycle slip repair device for a high-precision area positioning navigation system of a foundation, the device comprising:
the estimated value calculating module is used for obtaining Doppler estimated value of the current moment of the receiver according to the position of the base station, the state parameters of the current moment of the receiver, including the position, the speed, the clock error and the Zhong Piao estimated value; wherein the receiver is mounted on a moving carrier;
the Doppler residual error acquisition module is used for acquiring a Doppler observed value of the receiver at the current moment and acquiring a Doppler residual error at the current moment according to the Doppler estimated value and the Doppler observed value;
the cycle slip detection threshold determining module is used for determining a cycle slip detection threshold according to the statistical characteristics of Doppler residual error historical data; the historical time is all the time before the current time, doppler residual errors corresponding to the time when the previous base stations do not generate cycle slip form statistical data, a cycle slip detection threshold value is calculated according to the statistical characteristics of the Doppler residual error data, the cycle slip detection threshold value is used as a judgment standard to detect observed quantity corresponding to each base station, and whether the carrier phase measurement value corresponding to the detected base station generates cycle slip is judged;
the determining the cycle slip detection threshold according to the statistical characteristics of the Doppler residual error historical data comprises the following steps:
if the statistical characteristics of the Doppler residual error historical data are normal distribution, calculating the standard deviation of Doppler residual error statistical data corresponding to each base station, and multiplying the standard deviation by 3 according to the 3 sigma criterion of the normal distribution to obtain the cycle slip detection threshold;
the cycle slip judging module is used for judging that the carrier phase observed value of the corresponding base station received by the receiver is cycle slip when the Doppler residual error at the current moment is larger than the cycle slip detection threshold value and shielding the Doppler observed value and the carrier phase observed value of the corresponding base station when the plurality of base stations are utilized for carrying out navigation positioning on the moving carrier;
the cycle slip repairing module is used for obtaining a carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station when the Doppler residual error of the corresponding base station is detected to be smaller than a cycle slip detection threshold value again, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error; and when the Doppler residual error of the corresponding base station is detected to be smaller than the cycle slip detection threshold again, obtaining a carrier phase residual error at the current moment according to the carrier phase estimated value and the carrier phase observed value of the corresponding base station, and repairing the carrier phase observed value of the corresponding base station received by the receiver according to the carrier phase residual error, wherein the method comprises the following steps:
when DeltaD of the corresponding base station i When the cycle slip detection threshold value is smaller than the cycle slip detection threshold value, the carrier phase estimated value and the carrier phase observed value of the corresponding base station are subjected to difference to obtain a carrier phase residual error at the current moment, and the carrier phase residual error at the current moment is used as an ambiguity correction value:
wherein the method comprises the steps ofAmbiguity correction value corresponding to base station i, +.>Representing the carrier phase estimate corresponding to base station i,representing a carrier phase observation value corresponding to the base station i;
repairing the carrier phase observed value of the corresponding base station i received by the receiver according to the ambiguity correction value;
and recovering the Doppler observed value and the carrier phase observed value of the corresponding restored base station i in the positioning calculation process.
6. A receiver comprising a memory and a processor, the memory storing a lower computer program, characterized in that the processor, when executing the lower computer program, implements the steps of the method of any of claims 1 to 4.
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