Beidou and GPS observation value cycle slip detection and repair method, device and storage device

Abstract

The invention provides a Beidou and GPS observed value cycle-slip detection and repair method, Beidou and GPS observed value cycle-slip detection and repair equipment and storage equipment. The Beidouand GPS observed value cycle-slip detection and repair method only uses un-differenced and uncombined observed values of adjacent epoches to perform cycle-slip detection and repair, is capable of real-time operation, is suitable for application scenarios such as network RTK, single base station RTK, deformation monitoring and the like observation stations with slow position variation, and has norequirement for the number of frequencies of a receiver. The Beidou and GPS observed value cycle-slip detection and repair method and the Beidou and GPS observed value cycle-slip detection and repairequipment provided by the invention have the beneficial effects of effectively utilizing the advantages of increased number of satellites and optimized geometrical mechanisms of the satellites under multiple systems, adapt to the current development tendency of the Beidou and the GPS from inter-station double-difference combined observation processing to un-differenced and uncombined observation processing, simplify the process of cycle-slip detection, improve the success rate and accuracy rate of detection, adopt a partial ambiguity fixing method for eliminating non-whole-cycle gross errors in the process of cycle-slip repair, and can effectively improve the positioning precision of the Beidou and the GPS.

Description

technical field [0001] The invention relates to the technical field of satellite navigation and positioning, in particular to a method, device and storage device for detecting and repairing cycle slips of Beidou and GPS observations. Background technique [0002] The integer ambiguity is the unknown integer part of the GNSS (Global Navigation Satellites System) carrier phase observation value. Only by correctly solving the ambiguity can the high-precision carrier phase observation value be used for high-precision applications, such as RTK (Real-time Kinematic), PPP (Precise Point Positioning), etc. However, in the actual environment, when the GNSS receiver is receiving satellite signals, the satellite signals will be blocked by the external environment, resulting in the receiver being unable to continuously track the signal, also known as signal loss of lock. When the satellite signal is re-tracked, its The unknown full-cycle part of the carrier-related observations will ch...

AI Technical Summary

Problems solved by technology

This type of method takes advantage of the time correlation of errors such as ionospheric delay, tropospheric delay, and hardware delay, and eliminates them by using the difference between epochs. At a high sampling rate (such as 1Hz), it can perform cycle-by-step analysis on single-frequency non-difference and non-combined data. Slip detection and repair, the disadvantage is that the gross error detection method needs to be used when detecting cycle slips. When there are multiple cycle slips, this method is not easy to accurately detect cycle slips

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