Beidou three-frequency cycle slip detection method, system and device suitable for low sampling rate

Abstract

The invention discloses a Beidou three-frequency cycle slip detection method, system and device suitable for a low sampling rate, and the method specifically comprises the steps: constructing combinedobservation data according to a pseudo-range phase observation value: carrying out the epoch difference calculation of the combined observation data, and obtaining an ionospheric expansion factor corresponding to the pseudo-range and phase combined observation value, meanwhile, obtaining an observation noise expansion factor corresponding to the pseudo-range and phase combination observation value; based on the ionospheric expansion factor and the noise expansion factor of the combination observation value, respectively optimizing combination coefficients, and constructing an ultra-wide lanecombination, a wide lane combination and a narrow lane combination; constructing a nonlinear constraint equation set for resolving a narrow lane combination observation value coefficient, resolving, performing matrix operation, performing inverse computation on the cycle slip values of the ultra-wide lane combination, the wide lane combination and the narrow lane combination to obtain an originalfrequency phase observation value, and setting a group of nonlinear constraints, so that observation noise is reduced, the influence of a residual ionized layer is restrained, the influence of a geometric distance item is eliminated, and the reliability of a three-frequency cycle slip detection result is ensured.

Description

technical field [0001] The invention belongs to the field of data preprocessing of the Beidou satellite navigation system, and in particular relates to a Beidou three-frequency cycle-slip detection method, system and equipment suitable for low sampling rates. Background technique [0002] Due to obstacles between the satellite and the receiver or interference by abnormal signals during data reception, the satellite signal received by the receiver is out of lock, resulting in a full-cycle jump in the carrier phase observation value (referred to as cycle jump). Since cycle slip seriously affects the accuracy and reliability of dynamic positioning, cycle slip detection has become a key link in the field of GNSS (Global Navigation Satellite system) data preprocessing. On July 31, 2020, the Beidou-3 global satellite navigation system was officially put into operation. Since all satellites of the Beidou system provide tri-frequency data, the combination of tri-frequency data for ...

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Problems solved by technology

[0005] In order to solve the problems existing in the prior art, the present invention provides a Beidou three-frequency cycle-slip detection method and device suitable for low sampling rates, which solves the problem of low accuracy of detecting small cycle-slips in the traditional three-frequency cycle-slip detection method

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