CN115902975A - Cycle slip detection method and device, storage medium and electronic equipment - Google Patents
Cycle slip detection method and device, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN115902975A CN115902975A CN202211655944.3A CN202211655944A CN115902975A CN 115902975 A CN115902975 A CN 115902975A CN 202211655944 A CN202211655944 A CN 202211655944A CN 115902975 A CN115902975 A CN 115902975A
- Authority
- CN
- China
- Prior art keywords
- difference
- satellite
- target
- double
- cycle slip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application provides a cycle slip detection method, a cycle slip detection device, a storage medium and an electronic device, wherein the cycle slip detection device comprises: acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, a GNSS base station and a rover station; performing median removal processing on the first type double-difference observation quantity set to obtain a second type double-difference observation quantity set, wherein the second type double-difference observation quantity set comprises second type double-difference observation quantities among each satellite, the GNSS base station and the rover station; and determining whether the carrier observed quantity acquired by the rover at the target time has cycle slip or not based on the second type double-difference observed quantity set. Through the medium-number processing, double-difference observed quantity influenced by the clock drift of the receiver is eliminated, and the accuracy of final cycle slip positioning is guaranteed. And processing the second type double-difference observation set by adopting a method for eliminating abnormal values based on an absolute median difference method, and marking the carrier phase observation with cycle slip.
Description
Technical Field
The present disclosure relates to the field of satellite positioning, and in particular, to a cycle slip detection method, apparatus, storage medium, and electronic device.
Background
Automatic driving technology develops rapidly in recent years, and high-precision positioning technology of vehicles is one of the most critical core technologies. Currently, the mainstream vehicle-mounted high-precision positioning is a combined Navigation positioning System based on GNSS (Global Navigation Satellite System) and INS (Inertial Navigation System).
In a vehicle-mounted combined navigation positioning system, a real-time kinematic (RTK) technology is adopted for GNSS positioning, and a Dead Reckoning (DR) technology based on a low-cost IMU (Inertial Measurement Unit) is adopted for INS. In a short baseline mode, atmospheric delay error and hardware delay error at a satellite end and a receiver end can be effectively weakened by performing double difference processing on rover data and an original observation value of a reference station after cycle slip detection is completed, and centimeter-level positioning accuracy can be achieved after integer Ambiguity searching and fixing are performed by adopting a Least square-descent correlation method LAMBDA (space-square Ambiguity resolution addition, LAMBDA).
Before RTK positioning, data preprocessing, namely cycle slip detection, needs to be carried out on an original carrier phase observation value, and if cycle slip detection is missed, estimation of RTK position parameters is influenced, so that a positioning result is abnormal. Therefore, how to ensure the accuracy of the cycle slip detection result becomes a problem that those skilled in the art pay attention to.
Disclosure of Invention
It is an object of the present application to provide a cycle slip detection method, apparatus, storage medium and electronic device to at least partially improve the above problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a cycle slip detection method, where the method includes:
acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, a GNSS base station and a rover station;
performing median removal processing on the first type double-difference observation set to obtain a second type double-difference observation set, wherein the second type double-difference observation set comprises second type double-difference observations among each satellite, the GNSS base station and the rover station;
and determining whether cycle slip exists in the carrier observed quantities acquired by the rover at the target time based on the second type double-difference observed quantity set.
In a second aspect, an embodiment of the present application provides a cycle slip detection apparatus, including:
the processing unit is used for acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, the GNSS base station and the rover station;
the processing unit is further configured to perform median removal processing on the first type double-difference observation set to obtain a second type double-difference observation set, where the second type double-difference observation set includes second type double-difference observations between each satellite and a GNSS base station and between each satellite and a rover station;
and the judging unit is used for determining whether the carrier observed quantity acquired by the rover station at the target time has cycle slip or not based on the second-type double-difference observed quantity set.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.
Compared with the prior art, the cycle slip detection method, the cycle slip detection device, the storage medium and the electronic device provided by the embodiment of the application comprise: acquiring a first-class double-difference observation set at a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, a GNSS base station and a rover station; carrying out median removal processing on the first type double-difference observation set to obtain a second type double-difference observation set, wherein the second type double-difference observation set comprises second type double-difference observations among each satellite, the GNSS base station and the mobile station; and determining whether the carrier observed quantity acquired by the rover at the target time has cycle slip or not based on the second type double-difference observed quantity set. Through the medium-number processing, double-difference observed quantity influenced by the clock drift of the receiver is eliminated, and the accuracy of final cycle slip positioning is guaranteed.
In order to make the aforementioned objects, features and advantages of the present application comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a cycle slip detection method according to an embodiment of the present application;
fig. 3 is one of the sub-steps of S103 provided in the embodiment of the present application;
fig. 4 is a second schematic diagram of the substeps S103 according to the embodiment of the present application;
FIG. 5 is a schematic diagram illustrating the substeps of S103-3 provided in the embodiments of the present application;
fig. 6 is a schematic view of substeps of S101 according to an embodiment of the present disclosure;
FIG. 7 is a sequence of positioning errors corresponding to a conventional cycle slip detection method;
fig. 8 is a positioning error sequence corresponding to the cycle slip detection method provided in the embodiment of the present application;
fig. 9 is a schematic unit diagram of a cycle slip detection device according to an embodiment of the present application.
In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 201-a processing unit; 202-judging unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when products of the application are used, and are only used for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus, should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
The commonly used cycle-slip detection methods at present include a dual-frequency code phase combination method MW (Melbourne-Wubbena) and a dual-frequency non-geometric distance GF (Geometry Free), wherein the GF is also called as a dual-frequency ionosphere residual error method, and scholars also combine the advantages of the two cycle-slip detection methods to make up for the deficiencies of the two methods, which is called as a TurboEdit method.
And a common doppler integral checking method for cycle slip detection of single-frequency data, a high-order difference method and a polynomial fitting method for off-line processing of static data, and the like. The cycle slip detection is performed by the GF combination and the MW combination, the cycle slip detection can only be performed on the dual-frequency carrier observed value of the receiver, even if the low-cost GNSS chip is in an open scene, some single-frequency observed values are still contained, and the pseudo-range observed value is relatively noisy, so that the two methods are not suitable for the cycle slip detection of the single-frequency carrier phase observed value. For the single-frequency carrier phase observed quantity, a Doppler integral checking method, a high-order difference method and the like are generally used for cycle slip detection. The Doppler integral checking method is easily influenced by the quality and the sampling rate of a Doppler observation value, the sampling rate of the receiver is low at the cost of 1hz, and the detection omission phenomenon exists when the Doppler integral checking method is used for detecting the cycle slip. The high order difference method is a cycle slip detection method for performing difference step by step, so that real-time cycle slip detection cannot be performed, and the method cannot be suitable for vehicle-mounted real-time high-precision navigation positioning.
In order to make up for the defects of the existing GNSS cycle slip detection method, the present application aims to provide a solution for INS assisted GNSS cycle slip detection based on abnormal value detection of the Absolute Median Absolute difference MAD (media Absolute development), and the robustness of the MAD and dead reckoning information of the INS are used to assist the GNSS in performing RTK cycle slip detection, thereby improving the positioning accuracy.
The embodiment of the application provides an electronic device which can be a computer device arranged in a rover, wherein the rover can be a ship, an airplane, an automobile and the like. Please refer to fig. 1, a schematic structural diagram of an electronic device. The electronic device comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.
The processor 10 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the cycle slip detection method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 10. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The Memory 11 may comprise a Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.
The memory 11 is used for storing programs, such as programs corresponding to the cycle slip detection device. The cycle slip detection means comprises at least one software function module which may be stored in the memory 11 in the form of software or firmware or may be fixed in an Operating System (OS) of the electronic device. The processor 10, upon receiving the execution instruction, executes the program to implement the cycle slip detection method.
Possibly, the electronic device provided in the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.
It should be understood that the structure shown in fig. 1 is merely a schematic structural diagram of a portion of an electronic device, and that the electronic device may include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The cycle slip detection method provided in the embodiment of the present application can be applied to, but is not limited to, the electronic device shown in fig. 1, and please refer to fig. 2, where the cycle slip detection method includes: s101, S102, and S103 are specifically described as follows.
S101, a first-type double-difference observation quantity set of the target moment is obtained.
The first type double-difference observation set comprises first type double-difference observations among each satellite, the GNSS base station and the rover station.
Alternatively, the first type of double-difference observed quantity may be a difference between inter-station single-difference observed quantities between adjacent times, for example, the target time is time t, and a difference between the inter-station single-difference observed quantity at time t and the inter-station single-difference observed quantity at time t-1 is obtained as the first type of double-difference observed quantity.
Specifically, please refer to the sub-steps of S101 shown in fig. 6.
S102, carrying out median removing processing on the first type double-difference observation quantity set to obtain a second type double-difference observation quantity set.
And the second double-difference observation set comprises second double-difference observations among each satellite, the GNSS base station and the rover station.
Optionally, the first-type set of double-difference observations includes a first-type double-difference observation between each satellite and the GNSS base station and the rover station. It should be noted that the first kind of double-difference observed quantity further includes a clock drift parameter related to the receiver, and a median of the double-difference observed quantity is also required to be obtained, and the median is deducted from all the double-difference observed quantities, so that the double-difference observed quantity without the influence of the clock drift of the receiver is obtained, and the accuracy of the final cycle slip positioning is ensured.
And determining the corresponding first-class median of the first-class double-difference observation set, for example, if the number of the arrays in the set is 1, 2, 3, 4 and 5, then 3 can be used as the first-class median.
And subtracting the first-class median from each first-class double-difference observed quantity in the first-class double-difference observed quantity set to obtain a corresponding second-class double-difference observed quantity, and further obtaining a second-class double-difference observed quantity set.
S103, determining whether the carrier observed quantity acquired by the rover at the target time has cycle slip or not based on the second-type double-difference observed quantity set.
To sum up, the embodiment of the present application provides a cycle slip detection method, including: acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, a GNSS base station and a rover station; performing median removal processing on the first type double-difference observation quantity set to obtain a second type double-difference observation quantity set, wherein the second type double-difference observation quantity set comprises second type double-difference observation quantities among each satellite, the GNSS base station and the rover station; and determining whether the carrier observed quantity acquired by the rover at the target time has cycle slip or not based on the second type double-difference observed quantity set. Through the medium-number processing, double-difference observed quantity influenced by the clock drift of the receiver is eliminated, and the accuracy of final cycle slip positioning is guaranteed.
On the basis of fig. 2, regarding the content in S103, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 3, in which S103 includes: s103-1 and S103-3 are specifically set forth below.
S103-1, determining the absolute median differences and the second class median corresponding to the second class double-difference observation set.
Optionally, the absolute median corresponds to the formula:
MAD＝median(|X i -median(X)|)；
wherein the MAD characterizes the absolute median potential difference, X i And characterizing a second type double-difference observed quantity corresponding to the ith satellite, wherein mean (X) represents a second type medium number. It should be understood that the second-class median of the second-class double-difference observation set is the same as the first-class median of the first-class double-difference observation set, and the description thereof is omitted here.
S103-3, determining whether the carrier observed quantity corresponding to the target satellite has cycle slip at the target moment or not based on the second type double-difference observed quantity, the absolute median difference and the second type median.
And the target satellite is a satellite corresponding to the second type of double-difference observation quantity.
It should be appreciated that the median absolute difference is a measure of statistical deviation, is more adaptive to outliers in the data than the standard deviation, and is more accurate based on the cycle slip confirmation obtained at S103-3.
On the basis of fig. 2, regarding the content in S103, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 4, where S103 includes: s103-1, S103-2 and S103-3, and S103-1 and S103-3 are the same as those shown in FIG. 3, and are not described herein again. As shown in FIG. 4, after S103-1, S103-2 is performed, as set forth in detail below.
S103-2, determining whether the detection condition is met. If yes, go to step S103-3, otherwise, skip.
The detection condition indicates that the second class median is smaller than a first preset threshold value, and the absolute median difference is smaller than a second preset threshold value.
I.e. it is determined whether media < thre1 (first preset threshold) and MAD < thre2 second preset threshold are met. If media is greater than other 1 or MAD is greater than thre2, it is indicated that the predicted position of the INS is inaccurate, the second type of double-difference observed quantity contains a larger INS predicted position error, the second type of double-difference observed quantity cannot be used as an initial detected quantity for cycle slip detection, and the cycle slip detection cannot be performed at this time.
On the basis of fig. 3 or fig. 4, for the content in S103-3, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 5, where S103-3 includes: S103-3A, S103-3B, S103-3C, and S103-3D, as described in detail below.
And S103-3A, determining a target detection amount based on the absolute median difference.
Optionally, the formula corresponding to the marked measurement is:
MJD＝n*MAD/k1；
the MAD represents the absolute median potential difference, the MJD represents the target detection quantity, and n and k1 are preset constants. For example, n may take on a value of 3 and k1 may take on a value of 0.6745.
Alternatively, if the second type of double-difference observation is not affected by errors other than cycle slip, the second type of double-difference observation should follow a normal distribution with zero mean. If the outliers fall within 50% of the area on either side of the mean and the normal falls within 50% of the area on either side of the mean, then the amount of detection of the absolute median difference can be set to be a multiple of the MAD.
And S103-3B, determining whether the target difference is larger than the target detection amount. If yes, executing S103-3C, if no, executing S103-3D.
And the target difference value is the absolute value of the difference between the second-class double-difference observed quantity and the second-class median.
Alternatively, the target difference value may be understood as the median deviation of the second type of double-difference observations for each satellite.
Optionally, the judgment equation corresponding to S103-3B may be:
|X i -median(X)|＞n*MAD/k1；
wherein, | X i -mean (X) | represents the target difference corresponding to the ith satellite.
S103-3C, determining that the carrier wave observed quantity corresponding to the target satellite has cycle slip at the target moment.
And S103-3D, determining that the carrier wave observed quantity corresponding to the target satellite has no cycle slip at the target moment.
It should be understood that the target satellite is the ith satellite.
On the basis of fig. 2, for the content in S101, an alternative implementation manner is further provided in the embodiment of the present application, please refer to fig. 6, where S101 includes: s101-1, S101-2, and S101-3 are specifically described below.
S101-1, determining base station satellite distance information and rover satellite distance information based on the GNSS base station coordinates, rover predicted coordinates and satellite coordinates of the target time.
Optionally, the base station satellite distance information and the rover satellite distance information are calculated as follows:
where ρ is ins，t Characterizing rover satellite-to-ground distance information, ρ b,t Characterizing base station satellite-to-ground distance information (x) ins ，y ins ，z ins ) (x) predicted coordinates of the INS characterizing the rover at the target time (time t) b ，y b ，z b ) Characterizing base station coordinates, (xs, ys, zs) characterizing satellite coordinates.
It should be understood that the coordinates of each satellite are different, and based on the satellite coordinates of each satellite, base station satellite distance information and rover satellite distance information corresponding to each satellite can be obtained, and the number of satellites is greater than or equal to 5.
S101-2, determining an inter-station single-difference observation set based on the difference observation of the GNSS base station at the target moment, the original carrier observation of the rover, the base station satellite-ground distance information and the rover satellite-ground distance information.
The inter-station single-difference observation quantity set comprises inter-station single-difference observation quantities among each satellite, the GNSS base station and the rover station.
Optionally, the guard ground distance ρ based on the target time (t time) ins,t ，ρ b,t And the raw carrier observations of the rover r，t Differential observed quantity phi of GNSS base station b，t And (3) establishing inter-station single-difference observed quantities, and for a short base line, subtracting the observed quantities of the mobile station and the base station to eliminate the influence of troposphere, ionosphere and star-end errors, but still leaving inter-station single-difference ambiguity delta N at the time t r-b，t And receiver clock drift dt t 。
Optionally, a base station observation equation is constructed based on the difference observation of the GNSS base station at the target time and the base station satellite distance information.
Optionally, the base station observation equation is:
φ b，t ＝ρ b,t +c·(dt b -dt s )+T+I+N b，t +ε b 。
constructing a rover observation equation based on the original carrier observation of the rover at the target moment and the rover satellite-ground distance information;
optionally, the rover observed quantity equation is:
φ r，t ＝ρ ins,t +c·(dt r -dt s )+T+I+N r，t +εr。
and determining the inter-station single-difference observed quantity based on the base station observed quantity equation and the rover station observed quantity equation to obtain an inter-station single-difference observed quantity set.
Alternatively, subtracting the rover observation equation from the base station observation equation may result in the following equation:
Δφ t ＝(φ r，t -ρ ins,t )-(φ b，t -ρ b,t )＝v t +ΔN r-b，t +c·dt t ；
where T denotes tropospheric delay, I denotes ionospheric delay, v t Characterization of Single Difference residual, dt t ＝dt r -dt b Characterization ofResidual receiver clock drift, Δ N r-b，t ＝N r，t -N b，t Characterization of single-difference ambiguity between stations, Δ φ t And (5) representing single difference observed quantity among stations.
S101-3, determining a first type of double-difference observation set among the inter-station epochs based on the inter-station single-difference observation at the target time and the inter-station single-difference observation at the historical time.
The historical time is a time immediately before the target time, for example, the time t-1 in the foregoing.
It should be appreciated that to eliminate the error parameter in the inter-station single-difference observations, S101-3 needs to be performed to obtain the corresponding first-type double-difference observations.
Optionally, a difference value between the inter-station single-difference observed quantity of the same satellite at the target time and the inter-station single-difference observed quantity at the historical time is determined as a corresponding first-type double-difference observed quantity set.
Continuing to refer to the above example, the target moment is t moment, the historical moment is t-1 moment, the inter-station single-difference observed quantity between t moment and t-1 moment is used for solving a difference again to construct an inter-station-epoch double-difference observed quantity, after the difference between epochs, the single-difference ambiguity parameter is eliminated, and finally the double-difference observed quantity is obtained
The observation is still affected by the receiver clock drift.
For example, the inter-station single difference observed quantity at the time t-1 is given:
Δφ t-1 ＝(φ r，t-1 -ρ ins,t-1 )-(φ b，t-1 -ρ b,t-1 )
＝v t - 1 +ΔN r- b ，t - 1 +c·dt t - 1 ；
wherein, Δ v t,t-1 And showing double-difference residual errors after the difference between the station epochs is made.
Optionally, the INS-assisted GNSS cycle slip detection method and the conventional cycle slip detection method that eliminate the abnormal value based on the absolute median difference method provided in the embodiment of the present application are respectively used to perform RTK positioning, and the positioning result is compared with the reference true value coordinate to obtain the positioning error sequence shown in fig. 7 and 8. Fig. 7 is a positioning error sequence corresponding to a conventional cycle slip detection method, and fig. 8 is a positioning error sequence corresponding to a cycle slip detection method provided in the embodiment of the present application.
Comparing the positioning error sequence diagrams of fig. 7 and fig. 8, it can be seen that the positioning accuracy statistical indicators RMSE and std values of the cycle slip detection scheme adopted in the present application are smaller, which indicates that the positioning accuracy of the method is higher; the circle in fig. 7 shows that the positioning result by the conventional cycle slip detection method has more flying spots, and the positioning result by the cycle slip detection method of the present application has fewer flying spots.
The cycle slip detection method provided by the application utilizes the characteristic of short-time high precision of the INS, and eliminates the influence of GNSS positioning errors on cycle slip detection. Different from the traditional method for eliminating the clock drift of the receiver by selecting the reference satellite, the method eliminates the influence of the clock drift at the receiver by a method of double-difference observed values between the station epochs and deducting median. Considering that the potential difference of absolute difference MAD is robustness statistic, the GNSS cycle slip detection is carried out by adopting the INS prediction position and the potential difference of absolute difference elimination abnormity for the first time.
Referring to fig. 9, fig. 9 is a schematic view of a cycle slip detection apparatus according to an embodiment of the present application, where the cycle slip detection apparatus is optionally applied to the electronic device described above.
The cycle slip detection apparatus includes a processing unit 201 and a judgment unit 202.
The processing unit 201 is configured to obtain a first type double-difference observation set at a target time, where the first type double-difference observation set includes first type double-difference observations between each satellite and a GNSS base station and a rover station;
the processing unit 201 is further configured to perform median removal processing on the first type double-difference observation set to obtain a second type double-difference observation set, where the second type double-difference observation set includes second type double-difference observations between each satellite and the GNSS base station and the rover station;
and a determining unit 202, configured to determine whether the carrier observed quantity acquired by the rover at the target time has cycle slip based on the second-type double-difference observed quantity set.
Optionally, the processing unit 201 is further configured to determine the median absolute differences and the second median number corresponding to the second-class double-difference observation set; and determining whether the carrier observed quantity corresponding to the target satellite at the target moment has cycle slip or not based on the second type double-difference observed quantity, the absolute median difference and the second type medium number, wherein the target satellite is a satellite corresponding to the second type double-difference observed quantity.
Optionally, the processing unit 201 is further configured to determine a target detection amount based on the absolute median difference; determining whether a target difference value is larger than a target detection amount or not, wherein the target difference value is an absolute value of a difference between the second-class double-difference observed quantity and a second-class median; and if so, determining that the carrier wave observed quantity corresponding to the target satellite has cycle slip at the target moment.
Alternatively, the processing unit 201 may execute the above S101 and S102, and the determination unit 202 may execute the above S103.
It should be noted that the cycle slip detection apparatus provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the cycle slip detection method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.
The following provides an electronic device, which may be a computer device deployed in a rover, where the rover may be a ship, an airplane, an automobile, etc., and the electronic device may implement the cycle slip detection method as shown in fig. 1; specifically, the electronic device includes: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used for storing one or more programs, which when executed by the processor 10, perform the cycle slip detection method of the above-described embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (14)
1. A cycle slip detection method, the method comprising:
acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, a GNSS base station and a rover station;
performing median removal processing on the first type double-difference observation quantity set to obtain a second type double-difference observation quantity set, wherein the second type double-difference observation quantity set comprises second type double-difference observation quantities among each satellite, the GNSS base station and the rover station;
and determining whether the carrier observed quantity acquired by the rover at the target time has cycle slip or not based on the second type double-difference observed quantity set.
2. The cycle slip detection method of claim 1, wherein said step of determining whether carrier observations acquired by said rover at said target time have a cycle slip based on said set of double-difference observations of the second type comprises:
determining the absolute median difference and a second medium-class digit corresponding to the second-class double-difference observation quantity set;
and determining whether the carrier wave observed quantity corresponding to the target satellite at the target moment has cycle slip or not based on the second type double-difference observed quantity, the median absolute difference and the second type medium number, wherein the target satellite is a satellite corresponding to the second type double-difference observed quantity.
3. The cycle slip detection method according to claim 2, wherein after determining the absolute median difference and the second-class median corresponding to the second-class double-difference observation set, the method further comprises:
determining whether a detection condition is satisfied;
wherein the detection condition indicates that the second class median is smaller than a first preset threshold, and the absolute median difference is smaller than a second preset threshold;
if not, skipping;
and if so, determining whether the carrier wave observed quantity corresponding to the target satellite has cycle slip at the target moment based on the second type double-difference observed quantity, the absolute median difference and the second type median.
4. The cycle slip detection method of claim 2, wherein said step of determining whether a carrier observation corresponding to a target satellite has a cycle slip at the target time based on the second type of double-difference observations, the median absolute difference, and the second type of medium number comprises:
determining a target detection amount based on the absolute median difference;
determining whether a target difference value is larger than the target detection amount, wherein the target difference value is an absolute value of a difference between the second-class double-difference observed quantity and the second-class median;
and if so, determining that the carrier wave observed quantity corresponding to the target satellite has cycle slip at the target moment.
5. The cycle slip detection method according to claim 4, wherein the absolute median difference and the target detection amount correspond to an equation:
MAD＝median(|X i -median(X)|)；
MJD＝n*MAD/k1；
wherein, the MAD represents the potential difference of the absolute center, the MJD represents the target detection quantity, and X i And characterizing a second type of double-difference observed quantity corresponding to the ith satellite, wherein mean (X) represents a second type of medium number, and n and k1 are preset constants.
6. The cycle slip detection method of claim 1, wherein said step of obtaining a first set of double-difference observations at a target time comprises:
determining an inter-station single-difference observation set based on differential observations of a GNSS base station at a target moment, original carrier observations of a rover station, base station satellite-ground distance information and rover station satellite-ground distance information, wherein the inter-station single-difference observation set comprises inter-station single-difference observations between each satellite and the GNSS base station and between the satellites;
and determining a first type double-difference observation set between the inter-station epochs based on the inter-station single-difference observation at the target time and the inter-station single-difference observation at the historical time, wherein the historical time is the previous time of the target time.
7. The cycle slip detection method according to claim 6, wherein said step of determining a first set of double-difference observations between inter-station epochs based on the inter-station single-difference observations at the target time and the inter-station single-difference observations at the historical time comprises:
and determining the difference value of the inter-station single-difference observed quantity of the same satellite at the target moment and the inter-station single-difference observed quantity at the historical moment as a corresponding first-type double-difference observed quantity set.
8. The cycle slip detection method of claim 6, wherein the step of determining a set of inter-station single difference observations based on the differential observations of the GNSS base stations at the target time, the raw carrier observations of the rover, the base station satellite distance information, and the rover satellite distance information comprises:
constructing a base station observation quantity equation based on the difference observation quantity of the GNSS base station at the target moment and the base station satellite-ground distance information;
constructing a rover observed quantity equation based on the original carrier observed quantity of the rover at the target moment and the rover satellite-ground distance information;
and determining the inter-station single-difference observed quantity based on the base station observed quantity equation and the rover station observed quantity equation so as to obtain the inter-station single-difference observed quantity set.
9. The cycle slip detection method of claim 6, wherein prior to determining the set of inter-station single difference observations based on the differential observations of the GNSS base stations at the target time, the raw carrier observations of the rover, the base station satellite distance information, and the rover satellite distance information, the method further comprises:
and determining base station satellite-ground distance information and rover satellite-ground distance information based on the GNSS base station coordinates, rover predicted coordinates and satellite coordinates of the target time.
10. A cycle slip detection apparatus, comprising:
the processing unit is used for acquiring a first-class double-difference observation set of a target moment, wherein the first-class double-difference observation set comprises first-class double-difference observations among each satellite, the GNSS base station and the rover station;
the processing unit is further configured to perform median removal processing on the first type double-difference observation set to obtain a second type double-difference observation set, where the second type double-difference observation set includes second type double-difference observations between each satellite and a GNSS base station and a rover station;
and the judging unit is used for determining whether the carrier observed quantity acquired by the rover station at the target time has cycle slip or not based on the second-type double-difference observed quantity set.
11. The cycle slip detection device of claim 10, wherein the processing unit is further configured to determine the median absolute difference and the second median class corresponding to the second set of double-difference observations; and determining whether the carrier wave observed quantity corresponding to the target satellite at the target moment has cycle slip or not based on the second type double-difference observed quantity, the median absolute difference and the second type medium number, wherein the target satellite is a satellite corresponding to the second type double-difference observed quantity.
12. The cycle slip detection device of claim 11, wherein said processing unit is further configured to determine a target detection quantity based on said absolute median difference; determining whether a target difference value is larger than the target detection amount, wherein the target difference value is an absolute value of a difference between the second-class double-difference observed quantity and the second-class median; and if so, determining that the carrier wave observed quantity corresponding to the target satellite has cycle slip at the target moment.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-9.
14. An electronic device, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211655944.3A CN115902975A (en) | 2022-12-22 | 2022-12-22 | Cycle slip detection method and device, storage medium and electronic equipment |
| PCT/CN2023/127594 WO2024131282A1 (en) | 2022-12-22 | 2023-10-30 | Cycle slip detection method and apparatus, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211655944.3A CN115902975A (en) | 2022-12-22 | 2022-12-22 | Cycle slip detection method and device, storage medium and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115902975A true CN115902975A (en) | 2023-04-04 |
Family
ID=86496264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211655944.3A Pending CN115902975A (en) | 2022-12-22 | 2022-12-22 | Cycle slip detection method and device, storage medium and electronic equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115902975A (en) |
| WO (1) | WO2024131282A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024131282A1 (en) * | 2022-12-22 | 2024-06-27 | 广州导远电子科技有限公司 | Cycle slip detection method and apparatus, storage medium and electronic device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10247829B2 (en) * | 2016-08-10 | 2019-04-02 | Raytheon Company | Systems and methods for real time carrier phase monitoring |
| CN112558110A (en) * | 2020-11-26 | 2021-03-26 | 广东星舆科技有限公司 | Reference station data cycle slip detection method, computer medium and device |
| CN113866797A (en) * | 2021-09-24 | 2021-12-31 | 上海数迹智能科技有限公司 | Double-difference carrier cycle slip repairing and multipath inhibiting method, system and storage medium |
| CN113917509B (en) * | 2021-12-15 | 2022-03-01 | 腾讯科技（深圳）有限公司 | Double-difference ambiguity fixing method, device and readable storage medium |
| CN115902975A (en) * | 2022-12-22 | 2023-04-04 | 广州导远电子科技有限公司 | Cycle slip detection method and device, storage medium and electronic equipment |
-
2022
- 2022-12-22 CN CN202211655944.3A patent/CN115902975A/en active Pending
-
2023
- 2023-10-30 WO PCT/CN2023/127594 patent/WO2024131282A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024131282A1 (en) * | 2022-12-22 | 2024-06-27 | 广州导远电子科技有限公司 | Cycle slip detection method and apparatus, storage medium and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024131282A1 (en) | 2024-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111578935B (en) | Method for assisting GNSS ambiguity fixing by inertial navigation position increment | |
| CN108508461B (en) | GNSS carrier phase based high-precision positioning integrity monitoring method | |
| US7961143B2 (en) | Partial search carrier-phase integer ambiguity resolution | |
| CA3014110C (en) | System and method to provide an asil qualifier for gnss position and related values | |
| CN113138402B (en) | RTK-based ambiguity fixing method and device and storage medium | |
| EP1136838A2 (en) | GPS receiver capable of calculating accurate 2DRMS | |
| CN110662987B (en) | Positioning method and positioning terminal | |
| WO2024131282A1 (en) | Cycle slip detection method and apparatus, storage medium and electronic device | |
| CN114859387A (en) | Method, device, equipment and computer storage medium for detecting static station cycle slip | |
| CN112285749A (en) | Method and device for processing original observation data of global navigation satellite system and storage medium | |
| CN115902963A (en) | Single-point positioning data processing method and device, electronic equipment and storage medium | |
| CN114296119B (en) | Precise single-point positioning method and device, electronic equipment and storage medium | |
| US20240012158A1 (en) | Method for Estimating Multipath Error of Pseudo-Range Measurement Value, and Positioning Method Using Same | |
| CN116931028B (en) | GNSS data processing method and device based on intelligent terminal inertial navigation | |
| CN114384557A (en) | Service performance evaluation method and device of satellite-based augmentation system | |
| CN110927756B (en) | Satellite orbit maneuvering detection method, device, equipment and storage medium | |
| JP2010197353A (en) | Computer device | |
| CN111679307A (en) | Satellite positioning signal resolving method and device | |
| EP3637146A1 (en) | Positioning method and positioning terminal | |
| CN114675312A (en) | GNSS observation data generation method, storage medium and device | |
| JP2007127579A (en) | Relative-positioning system for carrier phase | |
| CN114488229A (en) | Positioning accuracy determination method, positioning device, positioning equipment and storage medium | |
| CN115877414B (en) | Fixed solution coordinate checking method and device, storage medium and electronic equipment | |
| CN111399019B (en) | Satellite positioning method and device in GNSS | |
| US11714200B2 (en) | Single-difference based pre-filter of measurements for use in solution separation framework |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |