CN114545452A - Carrier phase cycle slip detection and restoration method based on clock hopping receiver - Google Patents

Carrier phase cycle slip detection and restoration method based on clock hopping receiver Download PDF

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CN114545452A
CN114545452A CN202110698826.XA CN202110698826A CN114545452A CN 114545452 A CN114545452 A CN 114545452A CN 202110698826 A CN202110698826 A CN 202110698826A CN 114545452 A CN114545452 A CN 114545452A
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carrier phase
double
difference
cycle slip
value
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唐凯
石磊
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Hunan Tianyi Electronic 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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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
    • 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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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a carrier phase cycle slip detection and restoration method based on a clock-hopping receiver, which comprises the following steps: the two stations use the pseudo-ranges measured by respective receivers to carry out pseudo-range point positioning to obtain the absolute positions of the two stations and corresponding satellite coordinates; establishing a double-difference carrier phase observation equation based on the absolute positions of the two stations and the satellite positions, linearizing the equation to obtain a double-difference carrier phase observation value, and subtracting a zeroth order term from the double-difference carrier phase observation value to obtain a free term of the double-difference carrier phase observation equation; performing cycle slip detection according to the difference value of the free terms of the double-difference carrier phase observation equation at the previous moment and the later moment; and performing cycle slip repair according to the difference value of the free terms of the double-difference carrier phase observation equation at the previous moment and the later moment. The invention solves the problem of discontinuous cycle slip detection and repair of the measured data of the clock error jump correction receiver, and improves the availability and reliability of static high-precision relative positioning or directional north-seeking.

Description

Carrier phase cycle slip detection and restoration method based on clock hopping receiver
Technical Field
The invention relates to the field of high-precision processing of satellite measurement data, in particular to a carrier phase cycle slip detection and restoration method based on a clock-hopping receiver.
Background
The carrier phase cycle slip detection and restoration is one of the key technologies in satellite data high-precision processing, and is widely applied to the fields of static relative positioning, reference station network data processing, vehicle orientation, north finding and the like. When satellite high-precision relative positioning or directional north finding is carried out, double-difference processing needs to be carried out on satellite carrier phase observation data of two measuring stations, cycle slip detection and restoration are carried out on the double-difference carrier phase observation data, continuity of the double-difference observation data is guaranteed, then whole-cycle ambiguity of double-difference carrier phases is resolved, and a relative position vector or a true north orientation between the two measuring stations is obtained. The existing high-precision relative positioning or directional north-seeking method for the satellite mainly comprises a carrier phase difference three-difference-based detection and restoration method (see [1] Lichenlong, cycle slip detection method research based on high-order difference and polynomial fitting, reported by Harbin commercial university, 2015 [2] huge space, cycle slip detection and restoration by using a carrier phase double-difference observation value, urban construction theory research (electronic edition), 2013.), and the following problems are difficult to effectively solve by the typical method: the continuity of observed data needs to be ensured depending on a receiver clock; the clock error jump correction receiver adopting the method can generate cycle error detection and error correction phenomena.
Disclosure of Invention
The invention provides a carrier phase cycle slip detection and restoration method based on a clock jump receiver, which solves the problem of discontinuous cycle slip detection and restoration of measurement data of a clock jump correction receiver and improves the availability and reliability of static high-precision relative positioning or directional north-seeking.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a carrier phase cycle slip detection and restoration method based on a clock hopping receiver comprises the following steps:
s1, the two stations use the pseudo-range measured by the respective receivers to carry out pseudo-range point positioning to obtain the absolute positions of the two stations and the corresponding satellite coordinates;
s2, establishing a double-difference carrier phase observation equation based on the absolute positions of two stations and the satellite positions, linearizing the equation to obtain a double-difference carrier phase observation value, and subtracting a zeroth order term from the double-difference carrier phase observation value to obtain a free term of the double-difference carrier phase observation equation;
s3, cycle slip detection is carried out according to the difference value of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment;
and S4, cycle slip repairing is carried out according to the difference value of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment.
Preferably, the S2 specifically includes:
A, B the time t is the synchronous measurement of the two stations0The carrier phase observed value of the satellite I measured by the A measuring station is
Figure BDA0003129555140000021
The A measuring station measures the carrier phase observed value of the j satellite
Figure BDA0003129555140000022
The B measuring station measures the carrier phase observed value of the i satellite as
Figure BDA0003129555140000023
The carrier phase observed value of the measured j satellite measured by the B measuring station is
Figure BDA0003129555140000024
Then the double-difference carrier phase observation equation is
Figure BDA0003129555140000025
Wherein the content of the first and second substances,
Figure BDA0003129555140000026
is t0A time double-difference carrier phase observed value with the unit of week;
Figure BDA0003129555140000027
is the geometric distance of double differences, and the unit is meter; λ is the wavelength of the carrier phase, in meters;
Figure BDA0003129555140000028
obtaining the double-difference integer ambiguity of the carrier phase by adopting the existing mature LAMBDA algorithm;
Figure BDA0003129555140000029
the unit of the accidental error is meter and is generally less than 6 mm;
in the formula (1), the reaction mixture is,
Figure BDA00031295551400000210
double-difference carrier phase observed value sum
Figure BDA00031295551400000211
The double-difference geometric distance is specifically expressed as
Figure BDA00031295551400000212
Wherein the content of the first and second substances,
Figure BDA00031295551400000213
and
Figure BDA00031295551400000214
the time of satellite signal transmission; r isA、rBA, B coordinates of the stations, respectivelyi、rjCoordinates of the satellites i and j respectively, wherein the coordinate values are obtained by pseudo-range point positioning in S1;
double difference geometric distance in pair formula (1)
Figure BDA00031295551400000215
The nonlinear terms are Taylor expanded at the A-station position and the higher-order terms are ignored, there are
Figure BDA00031295551400000216
Wherein the content of the first and second substances,
Figure BDA00031295551400000217
the unit vector from the B measuring station to the j satellite;
Figure BDA00031295551400000218
the unit vector from the B-station to the i-satellite; r is ABA, B station relative position;
Figure BDA00031295551400000219
is shown as
Figure BDA00031295551400000220
Substituting the formula (3) into the formula (1) to obtain
Figure BDA00031295551400000221
Order to
Figure BDA00031295551400000222
Figure BDA00031295551400000223
Is t0And (3) a free term of a time double-difference carrier phase observation equation.
Preferably, the S3 specifically includes:
let A, B station at t1Synchronous measurement is carried out at the moment, and t is obtained based on the method of S21Free term of time-carrying double-difference carrier phase observation equation
Figure BDA0003129555140000031
Will t1Time t and0subtracting the free items of the time to obtain cycle slip detection test statistic C of
Figure BDA0003129555140000032
Wherein, zeta is cycle slip detection threshold, and 0.3 is taken;
according to the formula (5), if C is larger than or equal to the cycle slip detection threshold, judging that cycle slip occurs in the carrier phase, and turning to S4 to repair the cycle slip; and if C is smaller than the cycle slip detection threshold, judging that the carrier phase has no cycle slip.
Preferably, the S4 specifically includes:
according to equation (5), the cycle slip value is calculated as
Figure BDA0003129555140000033
Wherein round represents rounding by a rounding method, and Δ C is a carrier phase cycle skip value;
according to the cycle slip value Delta C of the carrier phase to t1Time carrier phase double-difference observed value
Figure BDA0003129555140000034
Repair cycle slip is performed as follows
Figure BDA0003129555140000035
Wherein the content of the first and second substances,
Figure BDA0003129555140000036
a double-difference carrier phase observed value repaired for cycle slip;
and reestablishing a double-difference pseudorange and a double-difference carrier phase observation equation according to the double-difference carrier phase observation value repaired by the cycle slip, resolving the double-difference integer ambiguity of the carrier phase by adopting the existing mature LAMBDA algorithm, and then obtaining a high-precision relative position vector or performing directional north-seeking by adopting a standard least square method.
The invention has the following beneficial effects:
(1) aiming at the problem that cycle slip misdetection and miscorrection can be generated by a clock error jump correction receiver in the satellite high-precision relative positioning or directional north-seeking technology under a static condition by adopting a high-order difference method, the cycle slip detection and the miscorrection are performed by adopting a free item of a double-difference observation equation after linearization of a carrier phase double-difference observation equation, respective pseudo-range single-point positioning of two observation stations obtains a corresponding satellite coordinate and an absolute coordinate of the observation station, the double-difference carrier phase observation equation is linearized according to the satellite coordinate and the absolute coordinate of the observation station to obtain a zero-order item of the double-difference carrier phase observation equation, then the free item of the double-difference carrier phase observation equation is obtained by subtracting the zero-order item from the double-difference carrier phase, and finally the free item performs front-back time difference detection and the cycle slip correction; the method solves the problem of discontinuous cycle slip detection and repair of the measured data of the clock error correction receiver, and effectively improves the availability and reliability of static high-precision relative positioning or directional north-seeking;
(2) by adopting the method, the orientation north-seeking receiver can adopt a cheaper crystal oscillator clock, and can achieve the same orientation north-seeking precision without requiring the receiver to share one clock.
The present invention will be described in further detail with reference to the accompanying drawings and embodiments, but the carrier phase cycle slip detection and recovery method based on a clock hopping receiver is not limited to the embodiments.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
fig. 2 is a comparison graph of the carrier phase double difference free term value of a certain test according to an embodiment of the present invention and a conventional method.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
Referring to fig. 1, a carrier phase cycle slip detection and recovery method based on a clock hopping receiver of the present invention includes:
and S1, the two stations use the pseudo ranges measured by the respective receivers to carry out pseudo range point positioning, and the absolute positions of the two stations and the corresponding satellite coordinates are obtained.
S2, establishing a double-difference carrier phase observation equation based on the absolute positions of the two stations and the satellite positions, linearizing the equation to obtain a double-difference carrier phase observation value, and subtracting a zeroth order term from the double-difference carrier phase observation value to obtain a free term of the double-difference carrier phase observation equation.
1) Calculating double-difference carrier phase observed values at a plurality of moments
Specifically, taking a certain vehicle-mounted directional north-seeking test as an example, 24 minutes and 45.003 seconds at 5 days 5 of 5 months 31 days of 2020, 11 satellites of Beidou and 11 satellites of GPS are observed together, a carrier phase observation value of a satellite No. 18 of GPS is selected for analysis, a reference satellite is the highest elevation angle satellite, and calculated double-difference carrier phase observation values at a plurality of moments are as follows:
Figure BDA0003129555140000051
In the formula, double difference carrier phase observed value
Figure BDA0003129555140000052
Each row of which is a double-differenced carrier-phase observation for satellite GPS18 at each time instant.
2) Calculating free terms in carrier phase double-difference observation equation
Taking the same experiment as an example, substituting the pseudo-range single-point positioning coordinate and the satellite coordinate of each corresponding time into equations (2), (3) and (4), and obtaining the free terms of the double-difference carrier phase observation equations of a plurality of times as follows:
Figure BDA0003129555140000061
and S3, detecting cycle slip according to the difference of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment.
For the plurality of moments, the free term subtraction of the double-difference carrier phase observation equation at the front moment and the rear moment is compared with a cycle slip detection threshold (set to be 0.3), and if the free term subtraction exceeds the cycle slip detection threshold, the cycle slip occurs. Such as free items
Figure BDA0003129555140000062
The difference C between the second and third rows is 5.4, and the cycle slip occurs at this time.
And S4, cycle slip repairing is carried out according to the difference value of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment.
The cycle slip value deltaC can be calculated to be 5 according to the formula (6), and cycle slip repair can be carried out on the double-difference carrier phase according to the formula (7).
Referring to fig. 2, the horizontal axis represents time; the vertical axis represents double difference carrier phase values in weeks. As can be seen from fig. 2, by using the method of the present invention, the double-difference observed values of the carrier phases in the second stage do not generate false detection and false correction. If the traditional method is adopted, the second section of data is judged to be cycle slip and is repaired, and the section of data is actually observed data jump caused by correction of clock error jump of a receiver, and the carrier phase observed value does not jump. .
The above is only one preferred embodiment of the present invention. However, the present invention is not limited to the above embodiments, and any equivalent changes and modifications made according to the present invention, which do not bring out the functional effects beyond the scope of the present invention, belong to the protection scope of the present invention.

Claims (4)

1. A carrier phase cycle slip detection and restoration method based on a clock hopping receiver is characterized by comprising the following steps:
s1, the two stations use the pseudo-range measured by the respective receivers to carry out pseudo-range point positioning to obtain the absolute positions of the two stations and the corresponding satellite coordinates;
s2, establishing a double-difference carrier phase observation equation based on the absolute positions of two stations and the satellite positions, linearizing the equation to obtain a double-difference carrier phase observation value, and subtracting a zeroth order term from the double-difference carrier phase observation value to obtain a free term of the double-difference carrier phase observation equation;
s3, cycle slip detection is carried out according to the difference value of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment;
and S4, cycle slip repairing is carried out according to the difference value of the free terms of the double-difference carrier phase observation equation at the front moment and the rear moment.
2. The method for detecting and repairing carrier phase cycle slip based on a clock-hopping receiver according to claim 1, wherein the S2 specifically includes:
A, B the time t is the synchronous measurement of the two stations0The carrier phase observed value of the satellite I measured by the A measuring station is
Figure FDA0003129555130000011
The A measuring station measures the carrier phase observed value of the j satellite
Figure FDA0003129555130000012
The B measuring station measures the carrier phase observed value of the i satellite as
Figure FDA0003129555130000013
The carrier phase observed value of the measured j satellite measured by the B measuring station is
Figure FDA0003129555130000014
Then the double-difference carrier phase observation equation is
Figure FDA0003129555130000015
Wherein the content of the first and second substances,
Figure FDA0003129555130000016
is a double-difference carrier phase observed value with the unit of week;
Figure FDA0003129555130000017
is the geometric distance of double differences, and the unit is meter; λ is the wavelength of the carrier phase, in meters;
Figure FDA0003129555130000018
the carrier phase double difference integer ambiguity;
Figure FDA0003129555130000019
measuring accidental errors for carrier phase double differences, wherein the unit is meter;
in the formula (1), the reaction mixture is,
Figure FDA00031295551300000110
double-difference carrier phase observed value sum
Figure FDA00031295551300000111
The double-difference geometric distance is specifically expressed as
Figure FDA00031295551300000112
Wherein the content of the first and second substances,
Figure FDA00031295551300000113
and
Figure FDA00031295551300000114
the time of satellite signal transmission; r isA、rBA, B coordinates of the stations, respectivelyi、rjCoordinates of the satellites i and j respectively, wherein the coordinate values are obtained by pseudo-range point positioning in S1;
double difference geometric distance in pair formula (1)
Figure FDA00031295551300000115
The nonlinear terms are Taylor expanded at the A-station position and the higher-order terms are ignored, there are
Figure FDA0003129555130000021
Wherein the content of the first and second substances,
Figure FDA0003129555130000022
the unit vector from the B measuring station to the j satellite;
Figure FDA0003129555130000023
the unit vector from the B-station to the i-satellite; r isABA, B station relative position;
Figure FDA0003129555130000024
is shown as
Figure FDA0003129555130000025
Substituting formula (3) into formula (1) to obtain
Figure FDA0003129555130000026
Order to
Figure FDA0003129555130000027
Figure FDA0003129555130000028
Is t is0And (3) a free term of a time double-difference carrier phase observation equation.
3. The method for detecting and repairing carrier phase cycle slip based on a clock-hopping receiver according to claim 2, wherein the S3 specifically includes:
let A, B station at t1Synchronous measurement is carried out at the moment, and t is obtained based on the method of S21Free term of time-carrying double-difference carrier phase observation equation
Figure FDA0003129555130000029
Will t1Time t and0subtracting the free items of the time to obtain cycle slip detection test statistic C of
Figure FDA00031295551300000210
Wherein, ζ is a cycle slip detection threshold;
according to the formula (5), if C is larger than or equal to the cycle slip detection threshold, judging that cycle slip occurs in the carrier phase, and turning to S4 to repair the cycle slip; and if C is smaller than the cycle slip detection threshold, judging that the carrier phase has no cycle slip.
4. The method for detecting and repairing carrier phase cycle slip based on a clock-hopping receiver according to claim 3, wherein the step S4 specifically includes:
according to equation (5), the cycle slip value is calculated as
Figure FDA00031295551300000211
Wherein round represents rounding by a rounding method, and Δ C is a carrier phase cycle skip value;
according to the cycle slip value Delta C of the carrier phase to t1Time carrier phase double-difference observed value
Figure FDA0003129555130000031
Repair cycle slip is performed as follows
Figure FDA0003129555130000032
Wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003129555130000033
a double-difference carrier phase observed value repaired for cycle slip;
and reestablishing double-difference pseudoranges and a double-difference carrier phase observation equation according to the double-difference carrier phase observation value repaired by the cycle slip to solve the double-difference whole cycle ambiguity of the carrier phase, and then calculating a relative position vector or carrying out directional north-seeking.
CN202110698826.XA 2020-11-11 2021-06-23 Carrier phase cycle slip detection and restoration method based on clock hopping receiver Pending CN114545452A (en)

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