GNSS segmentation smoothing filtering method based on cycle slip detection and repairing

Abstract

The invention provides a GNSS segmentation smoothing filtering method based on cycle slip detection and repairing. The GNSS segmentation smoothing filtering method based on the cycle slip detection and repairing comprises the steps that after the cycle slip detection and repairing are carried out on original observation data, if the number of effective common-view satellites is more than a certainnumber, kalman filter forward filtering calculating is used in a segment, and the ambiguities are determined; a moment tm when the number of common-view satellites with fixed ambiguities is maximum is selected to be taken as a starting point of reverse smoothing; the fixed common-view satellite ambiguities at the starting point of the reverse smoothing are reverse transmitted to a front epoch tm-1, and aiming at the moment of the epoch tm-1, positioning results are updated by combining original satellite carrier phase observations and transmitted common-view satellite ambiguities; by using the updated positioning results and the carrier phase observations, ambiguities of other non-common-view satellites at the moment of the epoch tm-1 are subjected to reverse back calculation and fixing;if intpart precision and standard deviations of the ambiguities of other non-common-view satellites are all within a setting threshold value, the ambiguities are fixed successfully; and on the contrary, the ambiguities are fixed unsuccessfully.

Description

technical field [0001] The invention relates to a high-precision GNSS navigation and positioning post-processing technology, in particular to a GNSS segmented smoothing filtering method based on cycle slip detection and repair. Background technique [0002] The Global Navigation Satellite System (GNSS) has the characteristics of all-weather, all-time, and global coverage, and has been widely used in many fields such as sea, land, air, space, and ground. GNSS can be divided into pseudo-range positioning and carrier phase positioning according to different types of observations. The pseudo-range positioning algorithm is simple, but due to the large observation noise and the serious impact of multipath effects, it usually can only provide meter-level positioning accuracy. In order to realize dynamic single epoch high-precision positioning, people often choose the carrier phase positioning method. [0003] However, in carrier phase positioning, due to the high dynamics of the ...

AI Technical Summary

Problems solved by technology

Although these methods can improve the positioning accuracy to a certain extent, because the dynamic state model of the satellite positioning system is difficult to accurately describe, the positioning result after filtering is still a floating-point solution.

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