Carrier phase cycle slip detection and restoration method for unmanned driving positioning and attitude measurement

Abstract

The invention discloses a carrier phase cycle slip detection and restoration method for unmanned driving positioning and attitude measurement, and the method comprises the following steps: detecting cycle slip through an MW combined observation value, detecting the cycle slip of the observation value through TECR, and carrying out the joint calculation of the cycle slip of an original carrier phase observation value and the detection and restoration of three-frequency cycle slip. On the basis of the traditional cycle slip detection and restoration method, MW combination and ionized layer TEC change rate (TECR) are comprehensively adopted to detect and repair cycle slip, a classic Turbo-Edit method suitable for a double-frequency observation value is comprehensively used for reference, anda self-adaptive cycle slip detection threshold value model is constructed. The method is expanded to a three-frequency situation to process three-frequency data, and therefore the overall performanceof cycle slip detection is improved, and rapid and accurate cycle slip detection and restoration of the three-frequency data are achieved.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a carrier phase cycle slip detection and repair method for unmanned driving positioning and attitude measurement. Background technique [0002] In recent years, with the continuous development of the field of intelligent vehicles and the continuous maturity of the technology in the field of automatic control, the research on automatic control technology of automobiles has attracted more and more attention. In actual driving, unmanned vehicles should have In GNSS relative positioning, it is necessary to use carrier phase observations to achieve centimeter-level high-precision positioning. Among them, the detection and repair of cycle slips in carrier phase observations is the key to high-precision positioning data processing links [0003] When the carrier is in motion, the complexity of cycle slip detection and repair is manifested in the following aspects: the GNSS ob...

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Problems solved by technology

[0003] When the carrier is in motion, the complexity of cycle slip detection and repair is manifested in the following aspects: the GNSS observation environment is changeable, the signal-to-noise ratio is low, the influence of multipath is complex, and the occurrence of cycle slip is more frequent; the carrier motion state is complex Changes will lead to inconspicuous changes in the phase observation value, so that the cycle slip detection method based on the station-satellite geometric change law will no longer be applicable; with the increase of the baseline length between stations under dynamic conditions, the The ionospheric delay will be difficult to be eliminated by double difference; under high dynamic conditions, the ionospheric delay error of the observation value changes rapidly, making the detection of cycle slips more difficult, due to the existence of cycle slip detection and repair under dynamic conditions In the above complex situation, the traditional cycle slip detection and repair method is prone to missed and misjudged cycle slips. Therefore, the present invention proposes a carrier phase cycle slip detection and repair method for unmanned positioning and attitude measurement to solve the existing problems. problems in technology

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