Multi-mode GNSS single-frequency cycle slip detecting and repairing method supporting RTPPP and RTK

A cycle slip detection and repair method technology, which is applied in the direction of measuring devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve the problems of low repair probability and difficulty in detecting small cycle slips, so as to reduce missed judgments and misjudgments The probability of judgment, the effect of improving the success rate and correct rate

Active Publication Date: 2018-06-15
NANJING NORTH OPTICAL ELECTRONICS
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Problems solved by technology

[0005] The invention provides a multi-mode GNSS single-frequency cycle slip detection and repair method supporting RTPPP and RTK, which is used to solve the problems in the prior art that it is difficult to detect small cycle slips and the probability of repair is low.

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  • Multi-mode GNSS single-frequency cycle slip detecting and repairing method supporting RTPPP and RTK
  • Multi-mode GNSS single-frequency cycle slip detecting and repairing method supporting RTPPP and RTK
  • Multi-mode GNSS single-frequency cycle slip detecting and repairing method supporting RTPPP and RTK

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Embodiment Construction

[0023] to combine figure 1 , a kind of multi-mode GNSS single-frequency cycle slip detection and repair method supporting RTPPP and RTK, comprising the following steps:

[0024] Step 1: Obtain the original data of BDS, GPS, and GLONASS observed by the rover station receiver. If it is in real-time RTPP positioning mode, only this data is required; if it is in RTK positioning mode, it is necessary to obtain the observation data of the base station at the same time.

[0025] Step 2: Get the adjacent epoch t m+1 , t m After the original data, the difference observation equations between epochs of GPS, BDS, and GLONASS systems are obtained sequentially

[0026] V=BΔX-L+ΔN (17)

[0027] in

[0028] design matrix by epoch t m+1 The three-dimensional line-of-sight vector composition from the satellite to the receiver at any time;

[0029] estimated unknown Indicates that the receiver is at t m+1 Time position correction number and GPS system clock offset drift of the receiv...

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Abstract

The invention provides a multi-mode GNSS single-frequency cycle slip detecting and repairing method supporting RTPPP and RTK. The method comprises: an inter-epoch difference is constructed; a time-dependent ionized layer error, a tropospheric error and clock correction delay errors between different systems are eliminated; overall least squares estimation is carried out; if a position correction number covariance DX^X^ is larger than or equal to threshold 1, five satellites are selected circularly and a cycle-slip-free combination with the highest reliability is found out to obtain position and clock difference drift correction number; a new residual vector is obtained by back calculation, wherein the residual vector is an inter-epoch cycle slip floating point solution; and the cycle slipfloating point solution is processed by rounding off in an acceptable range to determine whether the cycle slip can be restored or be a gross error. According to the invention, three different empirical thresholds are set based on different detection quantity meanings, so that the probability of missed determination and false determination during the cycle slip restoring process can be reduced.

Description

technical field [0001] The invention relates to a real-time GNSS data processing technology, in particular to a multi-mode GNSS single-frequency cycle-slip detection and repair method supporting RTPPP and RTK. Background technique [0002] In 2012, the Beidou satellite navigation system officially provided navigation, positioning, and timing services to the Asia-Pacific region. Following the combined use of GPS / GLONASS, a new available navigation system was added. In order to obtain high-precision and high-reliability positioning results, multi-mode GNSS has more observation satellites, making its combined positioning a new research hotspot; on the other hand, high-precision positioning modes such as differential or precise single point usually rely on Based on carrier phase observations. Because the satellite signal is blocked, external interference and other possible reasons cause the initial full cycle count to deviate, that is, a cycle slip occurs, which will be transfe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/33G01S19/27
CPCG01S19/27G01S19/33
Inventor 王进丁学文徐学永冯灿高照锋黄浩王清太唐大泉严后选李娜周叶惠孟堂吴波刘朝英汤深权王伟王琛琛夏羽刘正凡张莹莹
Owner NANJING NORTH OPTICAL ELECTRONICS
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