Pseudo-range multipath, track and data type considered three-frequency cycle slip detection and repair method

Abstract

The invention discloses a three-frequency cycle slip detection and repair method considering pseudo-range multipath, track and data types. The method comprises the following steps: (1) extracting an original observation value of a navigation system as an original pseudo-range, a carrier phase and a signal-to-noise ratio; (2) preprocessing an original observation value; (3) carrying out cycle slip detection on the preprocessed observation value; (4) cycle slip repairing; and (5) outputting the repaired observation value. According to the method, the original observation value is preprocessed from the observation level, the self-adaptive threshold wavelet packet filtering and denoising model based on the signal-to-noise ratio constraint is adopted to filter out random noise, meanwhile, the elevation angle model based on the sub-orbits and sub-satellites is adopted to correct the satellite-end pseudo-range multipath error, and the influence of the satellite-end pseudo-range multipath error is reduced. And finally, adaptive threshold detection is carried out on the detection quantity from the detection level, so that the cycle slip error detection rate is reduced, and the detection accuracy is improved.

Description

technical field [0001] The invention relates to the technical field of satellite navigation and positioning, and specifically refers to a three-frequency cycle-slip detection and repair method in consideration of pseudo-range multipath, orbit and data type. Background technique [0002] In GNSS high-precision positioning, the accuracy of carrier phase directly determines the positioning accuracy of the final result. The observation quality of the carrier phase has a direct impact on the accuracy of the carrier phase. Therefore, quality assurance for carrier phase observations is a prerequisite for high-precision positioning, and it is also one of the key research technologies for high-precision positioning. Carrier phase observations are mainly affected by cycle slips. Misdetection or inaccurate repairs of cycle slips will lead to a sharp decrease in the accuracy of observations and an increase in parameter estimation errors, which will affect the convergence time of subseq...

AI Technical Summary

Problems solved by technology

However, the code phase combination method and the hybrid phase pseudorange combination method are greatly affected by the random noise of the observation value and the pseudorange multipath, which makes the existing code phase combination method unable to accurately detect and repair small cycle slips

However, the no-geometric phase combination method is more complex, and the real-time performance of cycle slip detection is lower.

The classification least squares method is only suitable for low-altitude satellites, and its universality is poor

[0004] In addition, the existing cycle slip detection and repair algorithms mainly research and improve the algorithm from the detection level, while ignoring the influence of the observation level

At the same time, the existing algorithm does not consider the influence of the multi-orbit type of the Beidou satellite and the different sampling rates of the receiver.

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