A method, device, computer storage medium and terminal for realizing cycle slip processing

Abstract

The present invention discloses a method, device, computer storage medium and terminal for implementing cycle slip processing, including: determining whether a cycle slip occurs in a global satellite navigation system (GNSS) according to the double difference ambiguity of a first satellite and each second satellite; when it is determined that a cycle slip occurs in the GNSS, determining the satellite where the cycle slip occurs according to the double difference ambiguity of the first satellite and each second satellite; determining the number of cycle jump transitions of the cycle slip by a preset algorithm; performing cycle slip repair on the satellite where the cycle slip occurs according to the determined number of cycle jump transitions; wherein the first satellite is the satellite with the largest number of observation value frequency points in the GNSS; and the second satellite includes the remaining satellites in the GNSS except the first satellite. The embodiment of the present invention can be applied to any satellite observation condition scenario, and cycle slip detection is achieved through double difference ambiguity without the need for dual-frequency or triple-frequency observation values, and the satellite where the cycle slip occurs is determined through double difference ambiguity, thereby improving the success rate of cycle slip detection and repair.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, satellite communication technology, and in particular to a method, device, computer storage medium and terminal for implementing cycle slip processing. Background Art

[0002] At present, there are multiple satellite navigation systems that can provide positioning services for users, including the Satellite Navigation and Positioning System (GNSS), the United States' Global Positioning System (GPS), Russia's GLONASS, China's Beidou, the European Union's Galileo, and Japan's Quasi-Zenith Satellite System (QZSS). The joint positioning of multiple satellite navigation systems has greatly improved the availability, reliability and accuracy of satellite navigation positioning. Therefore, satellite navigation positioning has been widely used in many fields, including vehicle navigation, surveying and mapping, precision agriculture, intelligent robots, drones and unmanned driving. Although the orbit and clock accuracy of various satellite navigation systems is constantly improving and more and more satellites are available, the accuracy of single point positioning (SPP, Standard Point Positioning) without external precision data support has never been able to achieve an accuracy better than one meter. This is mainly because the combined impact of errors such as satellite orbits, clock errors, ionosphere and troposphere still exceeds the meter level. This positioning accuracy cannot meet the applications that require centimeter-level, decimeter-level, and sub-meter-level accuracy such as surveying and mapping, precision agriculture and unmanned driving. To mitigate the effects of these errors, receivers can receive precision data and use more accurate observations to improve accuracy.

[0003] In various applications of satellite navigation and positioning, as long as the carrier observation value of the receiver is used, cycle slips (cycleslips, due to occlusion or interference during the observation process, the signal will be lost, and the ambiguity contained in the recaptured carrier observation value will jump) is an issue that must be paid attention to. Common cycle slip detection and repair methods include TurboEdit (a cycle slip detection and repair method proposed by Blewitt), Doppler integration method, and pseudorange phase combination method.

[0004] The TurboEdit method uses the Melbourne-Wübbena (MW) combination and the geometry-free combination (GF, Geometry-Free) to detect and repair cycle slips. The premise is that there must be dual-frequency or multi-frequency observations. Among them, the MW combination uses dual-frequency pseudorange and carrier observations to combine into an ionosphere-free and geometry-free observation. The MW combination includes dual-frequency carrier ambiguity, dual-frequency pseudorange multipath and noise. The geometry-free (GF) combination subtracts the dual-frequency carrier observations, leaving the ionosphere and dual-frequency carrier ambiguity, so it is also called the ionosphere residual carrier phase combination. Both combinations also contain carrier noise and multipath, but they are two orders of magnitude smaller than the pseudorange noise and multipath, and are also much smaller than the carrier wavelength, so they can be ignored. Although the MW combination eliminates the ionosphere, it introduces dual-frequency pseudorange noise and multipath. In scenarios where cycle slips occur, such as in obstruction or interference environments, the pseudorange noise and multipath often exceed the meter level, exceeding the wavelength of the wide lane ambiguity in the MW combination, so the detection effect of MW is not ideal. The GF combination value uses the carrier observation value, but the combination has a detection blind spot, that is, insensitive cycle slips. For example, when the product of the number of cycle slips and the wavelength of each of the two frequency points is close, the GF combination cannot detect the cycle slip. TurboEdit repairs the cycle slip by performing a polynomial fitting starting from the first epoch of detection. As the observation time increases, the length of the fitting becomes longer, and there will be a large error in the fitting result, so the effect of cycle slip repair is not ideal. In addition, TurboEdit detection requires valid observation values ​​of at least two frequency points of the same satellite. When a satellite has only one carrier observation value at a certain moment, the cycle slip cannot be detected or repaired.

[0005] Doppler integration method, the Doppler observation value of the receiver is an observation value obtained by the receiver tracking the Doppler frequency shift between the satellite and the receiver, which can be used for receiver velocity estimation. It is different from the pseudorange and carrier observation values ​​that provide distance information between the satellite and the receiver. The carrier observation value is the integral of the Doppler observation value. It is precisely because of the integral relationship between the carrier observation value and the Doppler observation value that the Doppler integral can also be used to detect and repair the carrier cycle slip. The Doppler integral method cycle slip detection does not require pseudorange observation values ​​or multi-frequency combination. Each frequency point detects and repairs the cycle slip independently. However, the Doppler observation value itself has a relatively large noise, reaching decimeters / second. When the output frequency of the observation value is not high, the detection and repair effect is not good, especially not suitable for small cycle slip detection. The Doppler integration method is mainly used to detect large cycle slips when there are no multi-frequency observation values.

[0006] The pseudorange phase combination method is a cycle slip detection and repair method derived by researchers in recent years using satellite three-frequency observations (Li Jinlong et al., 2011). The pseudorange phase combination uses three-frequency pseudorange and carrier observations to form three linearly independent pseudorange phase combination observations, which can detect small cycle slips with only one cycle, and there is no insensitive cycle slip combination problem in the TurboEdit method. However, the verification of the cycle slip repair success rate of the pseudorange phase combination method depends on the noise of the three-frequency observations and pseudoranges. According to the research of Li Jinlong et al., even when the standard deviation of the pseudorange noise is only 0.3m, the standard deviation of the cycle slip estimation of the dual-frequency phase combination observation (1, -1) has reached 0.49 cycles, and the success rate of obtaining the correct cycle slip value by directly rounding the cycle slip estimation is less than 68.3%, while the success rate of the three-frequency combination can reach 98.4%. In the absence of three-frequency observations or when the pseudorange noise is large, the success rate of cycle slip repair will be reduced. In actual applications, when a cycle slip occurs, the observation conditions are generally poor, the pseudo-range noise is relatively large, and some frequencies may lose lock, so triple-frequency observations may not be available. Some receivers, such as early tracking station receivers, only provide dual-frequency observations. Some satellite systems do not have triple-frequency navigation signals. For example, 1 / 3 of GPS satellites do not transmit triple-frequency signals, and the satellites currently providing navigation services for GLONASS do not have triple-frequency signals.

[0007] The Doppler integration method is used for cycle slip detection and repair, which requires pseudorange or Doppler observations with large noise and multipath errors. Under normal circumstances, the noise of pseudorange observations is between 0.3 meters and 3 meters, and the Doppler noise is around decimeters per second. Cycle slips generally occur when satellite observation conditions are poor, such as signal interference, multipath effects when the satellite elevation angle is low, etc. At this time, the errors of pseudorange and Doppler observations will increase several times or even dozens of times; therefore, the success rate of cycle slip detection and repair will be greatly reduced. The pseudorange phase combination method and TurboEdit method require dual-frequency or even triple-frequency observations, which are not available on all satellites at any time. Therefore, the pseudorange phase combination method and TurboEdit method cannot be applied to all scenarios. Summary of the invention

[0008] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0009] The embodiments of the present invention provide a method, device, computer storage medium and terminal for implementing cycle slip processing, which can be applied to any satellite observation condition scenario and improve the success rate of cycle slip detection and repair without the need for dual-frequency or triple-frequency observation values.

[0010] An embodiment of the present invention provides a method for implementing cycle slip processing, including:

[0011] determining whether a cycle slip occurs in a global satellite navigation system GNSS according to double difference ambiguities of the first satellite and each of the second satellites;

[0012] When determining that a GNSS cycle slip occurs, determining a satellite where the cycle slip occurs according to a double difference ambiguity between the first satellite and each second satellite;

[0013] Determine the number of cycle jumps through a preset algorithm;

[0014] According to the determined number of full cycles of jump, the cycle slip of the satellite that has cycle slip is repaired;

[0015] The first satellite includes: the satellite with the largest number of observation frequency points in the GNSS; the second satellite is the other satellites in the GNSS except the first satellite.

[0016] On the other hand, an embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the method for implementing cycle slip processing is implemented.

[0017] In another aspect, an embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein:

[0018] The processor is configured to execute the computer program in the memory;

[0019] When the computer program is executed by the processor, the method for implementing cycle slip processing as described above is implemented.

[0020] In another aspect, an embodiment of the present invention further provides a device for implementing cycle slip processing, including:

[0021] A detection unit, a first determination unit, a second determination unit and a repair unit; wherein,

[0022] The detection unit is configured to: determine whether a cycle slip occurs in a global satellite navigation system GNSS according to a double difference ambiguity between the first satellite and each second satellite;

[0023] The first determination unit is configured to: when determining that a cycle slip occurs in the GNSS, determine the satellite where the cycle slip occurs according to the double difference ambiguity between the first satellite and each second satellite;

[0024] The second determining unit is configured to: determine the number of cycle slip transitions by a preset algorithm;

[0025] The repair unit is configured to: perform cycle slip repair on the satellite having cycle slip according to the determined number of whole cycle jumps;

[0026] The first satellite includes: the satellite with the largest number of observation frequency points in the GNSS; the second satellite is the other satellites in the GNSS except the first satellite.

[0027] The technical solution of the present application includes: determining whether a cycle slip occurs in the global satellite navigation system (GNSS) based on the double difference ambiguity of the first satellite and each second satellite; when it is determined that a cycle slip occurs in the GNSS, determining the satellite where the cycle slip occurs based on the double difference ambiguity of the first satellite and each second satellite; determining the number of cycle jump transitions of the cycle slip by a preset algorithm; performing cycle slip repair on the satellite where the cycle slip occurs based on the determined number of cycle jump transitions; wherein the first satellite is the satellite with the largest number of observation frequency points in the GNSS; and the second satellite includes the remaining satellites in the GNSS except the first satellite. The embodiment of the present invention can be applied to any satellite observation condition scenario, and cycle slip detection is achieved through double difference ambiguity without the need for dual-frequency or triple-frequency observation values, and the satellite where the cycle slip occurs is determined through double difference ambiguity, thereby improving the success rate of cycle slip detection and repair.

[0028] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0030] Figure 1 A flow chart of a method for implementing cycle slip processing according to an embodiment of the present invention;

[0031] Figure 2 The present invention is a block diagram of a device for implementing cycle slip processing according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0033] The steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Also, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a sequence different from that shown here.

[0034] Figure 1 Flow chart of a method for implementing cycle slip processing according to an embodiment of the present invention, as shown in FIG. Figure 1 As shown, including:

[0035] Step 101: determining whether a cycle slip occurs in a global satellite navigation system (GNSS) according to double difference ambiguities of a first satellite and each second satellite;

[0036] Step 102: When it is determined that a GNSS cycle slip occurs, the satellite where the cycle slip occurs is determined according to the double difference ambiguity between the first satellite and each second satellite;

[0037] Step 103, determining the number of cycle jumps of the cycle slip by a preset algorithm;

[0038] Step 104: Perform cycle slip repair on the satellite having cycle slip according to the determined number of cycle jumps;

[0039] The first satellite is the satellite with the largest number of observation frequency points in the GNSS; the second satellite includes the remaining satellites in the GNSS except the first satellite.

[0040] In an exemplary embodiment, when there are multiple satellites with the largest number of observation frequency points in the GNSS of the embodiment of the present invention, one of them can be selected as the first satellite according to a preset strategy. For example, from the two or more satellites with the largest number of observation frequency points in the GNSS, the satellite with the highest altitude angle is selected as the first satellite;

[0041] The embodiments of the present invention can be applied to any scenario of satellite observation conditions. Without the need for dual-frequency or triple-frequency observation values, cycle slip detection is achieved through double-difference ambiguity, and the satellite where the cycle slip occurs is determined through the double-difference ambiguity, thereby improving the success rate of cycle slip detection and repair.

[0042] In an exemplary embodiment, the embodiment of the present invention may allow a tracking station receiver to perform the processing of steps 101 to 104 above.

[0043] In an exemplary embodiment, the embodiment of the present invention determines whether a cycle slip occurs in the GNSS, including:

[0044] Calculate a single-difference carrier observation value of the first satellite at a preset frequency point;

[0045] Calculate the single difference carrier observation value of each second satellite at the preset frequency point respectively;

[0046] Determine a double difference ambiguity between the first satellite and each second satellite at a preset frequency epoch based on the calculated single difference carrier observation value of the first satellite and the single difference carrier observation values ​​of each second satellite;

[0047] When the double-difference ambiguity is greater than a preset threshold, it is determined that a GNSS cycle slip occurs;

[0048] When the double difference ambiguity is less than or equal to a preset threshold, it is determined that the GNSS has not experienced a cycle slip. In an exemplary embodiment, the single difference carrier observation value in the embodiment of the present invention can be calculated using an existing calculation formula.

[0049] In an exemplary embodiment, the preset threshold in the embodiment of the present invention may be set by a person skilled in the art based on experience. For example, the preset threshold may be set to be equal to 0.5.

[0050] In an exemplary embodiment, an embodiment of the present invention determines a satellite where a cycle slip occurs according to double difference ambiguities of a first satellite and each second satellite, including:

[0051] When all double-difference ambiguities are equal, it is determined that the first satellite has a cycle slip;

[0052] When the double difference ambiguities are not completely equal, it is determined that a cycle slip occurs on the second satellite when the double difference ambiguity is greater than a preset threshold.

[0053] In an exemplary embodiment, an embodiment of the present invention determines a satellite where a cycle slip occurs based on double difference ambiguity of the same frequency point.

[0054] In an exemplary embodiment, when the double difference ambiguity between the first satellite and the second satellite between the preset frequency epochs is greater than a preset threshold, the GNSS is determined to have a cycle slip, and the GNSS cycle slip includes two situations where the first satellite has a cycle slip or the second satellite has a cycle slip; when all double difference ambiguities at the same frequency are equal, the first satellite is determined to have a cycle slip; when the double difference ambiguities at the same frequency are not completely equal, for the situation where the double difference ambiguity is greater than the preset threshold, the satellite that has a cycle slip is determined to be the second satellite. The first satellite and the second satellite whose double difference ambiguity is less than or equal to the preset threshold do not have a cycle slip.

[0055] In an exemplary embodiment, the embodiment of the present invention determines the number of cycle jump transitions of a cycle slip by a preset algorithm, including:

[0056] The number of jump integer cycles is determined by the LAMBDA (Least-squares AM Biguity Decorrelation Adjustment, an ambiguity search algorithm well known to those skilled in the art) ambiguity search algorithm.

[0057] It should be noted that the LAMBDA fuzzy search algorithm is an existing algorithm in the relevant technology and will not be described in detail here.

[0058] In an exemplary embodiment, an embodiment of the present invention performs cycle slip repair on a satellite that has cycle slips, including:

[0059] The number of full cycles of the jump is added to the carrier of the satellite determined to have a cycle slip.

[0060] The embodiment of the present invention adds the jump integer number to the carrier of the satellite determined to have a cycle slip, including: when all double-difference ambiguities are equal, adding the jump integer number to the carrier of the first satellite; when the double-difference ambiguities are not completely equal, adding the jump integer number to the carrier of the second satellite.

[0061] An embodiment of the present invention further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for implementing cycle slip processing is implemented.

[0062] The embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein a computer program is stored in the memory; wherein:

[0063] The processor is configured to execute the computer program in the memory;

[0064] When the computer program is executed by a processor, the method for implementing cycle slip processing as described above is implemented.

[0065] Figure 2 FIG. 1 is a structural block diagram of a device for implementing cycle slip processing according to an embodiment of the present invention. Figure 2 As shown, it includes: a detection unit, a first determination unit, a second determination unit and a repair unit; wherein,

[0066] The detection unit is configured to: determine whether a cycle slip occurs in a global satellite navigation system (GNSS) based on a double difference ambiguity between the first satellite and each second satellite;

[0067] The first determination unit is configured to: when determining that a cycle slip occurs in the GNSS, determine the satellite where the cycle slip occurs according to the double difference ambiguity between the first satellite and each second satellite;

[0068] The second determining unit is configured to: determine the number of cycle slip transitions by a preset algorithm;

[0069] The repair unit is configured to: perform cycle slip repair on the satellite having cycle slip according to the determined number of whole cycle jumps;

[0070] The first satellite is the satellite with the largest number of observation frequency points in the GNSS; the second satellite includes the remaining satellites in the GNSS except the first satellite.

[0071] The embodiments of the present invention can be applied to any scenario of satellite observation conditions. Without the need for dual-frequency or triple-frequency observation values, cycle slip detection is achieved through double-difference ambiguity, and the satellite where the cycle slip occurs is determined through the double-difference ambiguity, thereby improving the success rate of cycle slip detection and repair.

[0072] In an exemplary embodiment, the detection unit of the embodiment of the present invention is configured as follows:

[0073] Calculate a single-difference carrier observation value of the first satellite at a preset frequency point;

[0074] Calculate the single difference carrier observation value of each second satellite at the preset frequency point respectively;

[0075] Determine a double difference ambiguity between the first satellite and each second satellite at a preset frequency epoch based on the calculated single difference carrier observation value of the first satellite and the single difference carrier observation values ​​of each second satellite;

[0076] When the double-difference ambiguity is greater than a preset threshold, it is determined that a GNSS cycle slip occurs;

[0077] When the double difference ambiguity is less than or equal to a preset threshold, it is determined that no cycle slip occurs in the GNSS.

[0078] In an exemplary embodiment, the first determining unit of the embodiment of the present invention is configured as follows:

[0079] When all double-difference ambiguities are equal, it is determined that the first satellite has a cycle slip;

[0080] When the double difference ambiguities are not completely equal, it is determined that a cycle slip occurs on the second satellite when the double difference ambiguity is greater than a preset threshold.

[0081] In an exemplary embodiment, the second determining unit of the embodiment of the present invention is configured as follows:

[0082] The number of transition cycles is determined by the LAMBDA ambiguity search algorithm.

[0083] In an exemplary embodiment, the repair unit of the embodiment of the present invention is configured as follows:

[0084] The number of full cycles of the jump is added to the carrier of the satellite determined to have a cycle slip.

[0085] The embodiment of the present invention adds the jump integer number to the carrier of the satellite determined to have a cycle slip, including: when all double-difference ambiguities are equal, adding the jump integer number to the carrier of the first satellite; when the double-difference ambiguities are not completely equal, adding the jump integer number to the carrier of the second satellite.

[0086] The following briefly describes the embodiments of the present invention through application examples. The application examples are only used to illustrate the embodiments of the present invention and are not used to limit the protection scope of the embodiments of the present invention.

[0087] Application Examples

[0088] The tracking station receiver in this application example can track one, multiple or all satellite system signals in GPS, GLONASS, BDS, Galileo and QZSS satellite systems. The observation value can be single-frequency, dual-frequency or multi-frequency. The tracking station receiver can also decode the broadcast ephemeris of each satellite and the current ionospheric parameters from the navigation message. At any time, such as epoch m, the tracking station receiver tracks the carrier observation value of a certain frequency point (preset frequency point) of a satellite. The observation equation of the carrier observation value is:

[0089]

[0090] At the next epoch m+1, the observation equation corresponding to the carrier observation value tracked by the tracking station receiver is:

[0091]

[0092] In the above formulas (1) and (2), k represents a frequency point identifier, and the value can be 1, 2, or 3; represents the carrier observation value of satellite i at frequency point k at epoch m; represents the carrier observation value of satellite i at frequency point k in epoch m+1; represents the geometric distance between the tracking station receiver at epoch m and satellite i; represents the geometric distance between the receiver of the tracking station at epoch m+1 and satellite i; c represents the speed of light in vacuum; dT r,m represents the receiver clock error of the tracking station receiver at epoch m; dT r,m+1 represents the receiver clock error of the tracking station receiver at epoch m+1; represents the clock error of satellite i at epoch m; represents the clock error of satellite i at epoch m+1; represents the orbit error of satellite i at epoch m; represents the orbit error of satellite i at epoch m+1; represents the tropospheric error of satellite i at epoch m; represents the tropospheric error of satellite i at epoch m+1; represents the ionospheric error of the first frequency point of satellite i at epoch m (the first frequency point is the L1 frequency point in the satellite navigation system well known to those skilled in the art, the corresponding frequency is generally f1, and the first frequency point is the frequency point corresponding to f1); represents the ionospheric error of the first frequency point of satellite i at epoch m+1; Indicates the frequency square of the first frequency point; represents the square of the frequency of the kth frequency point; λ k Indicates the carrier wavelength of frequency k; represents the integer ambiguity of frequency point k at satellite i in epoch m; represents the integer ambiguity of frequency point k of satellite i at epoch m+1; It represents the noise of the carrier observation value of frequency point k of satellite i at epoch m; It represents the noise of the carrier observation value of satellite i at frequency point k at epoch m+1.

[0093] The difference between the carrier observations at epoch m and m+1 is calculated to obtain the observation equation of the single-difference carrier observation between epochs before and after frequency k of satellite i:

[0094]

[0095] Among them, Δ in the formula is the operator of the single-difference carrier observation value. Because the satellite orbit and clock error change very little in a short time, the time interval between two epochs is generally 1 second or even shorter, and the change of the satellite orbit and clock error will not exceed 1 mm, so the single difference can be ignored. is the difference between the carrier observation values ​​of two epochs, which is a known quantity. i is the difference in geometric distance between the receiver and satellite i between two epochs. Since the receiver position is known, the satellite coordinates can be calculated through ephemeris, so Δρ i Can be accurately calculated. ΔTrop i is the change in tropospheric error between two epochs, which can be calculated using the tropospheric model. i is the change in ionospheric error between two epochs, which can be calculated using the ionospheric model. k and the carrier wavelength λ k All are known quantities. Single-difference carrier observation noise It is very small, only at the millimeter level, and can be ignored. is the change in carrier ambiguity between two epochs. If no cycle slip occurs, ΔdT r is the change in the receiver clock error between two epochs, which is an unknown quantity. Moreover, the change in the receiver clock error is irregular, and the change between two epochs may be relatively large. Ignoring the carrier observation noise, formula (3) can be converted to:

[0096]

[0097] If we need to know whether there is a cycle slip between two epochs, we need to know whether the right side of the equation is close to 0. We need to determine ΔdT r , or eliminate ΔdT r For other satellites, such as the carrier observation value of satellite j at frequency point k, this application example can also find the difference between two epochs and obtain the following observation equation:

[0098]

[0099] Because the receiver clock error change has the same impact on the two carrier observations at the same frequency, satellite i can be used as the reference satellite, and the single-difference carrier observations of all other satellite frequency points k (the difference between the previous and next epochs) can be differentiated from the single-difference carrier observations of satellite i. If the difference is calculated between (4) and (5), ΔdT can be eliminated. r , we get the following observation equation:

[0100]

[0101] Thus, the difference in ambiguity change between satellite i and j frequency points k epoch can be calculated:

[0102]

[0103] All variables on the right side of the equal sign in formula (7) are known quantities accurate to the millimeter level or accurately calculated based on the model and parameters. is an integer, so it is easy to determine Is it equal to 0? This application example only needs to determine whether the right side of the equation exceeds a threshold, such as 0.5. If it is not equal to 0, it means that a cycle slip occurred between epochs k at satellite frequency point i or j.

[0104] When a cycle slip is detected, the LAMBDA ambiguity search algorithm can be used to obtain the integer number of ambiguity jumps (Teunissen, 1995). The integer number of jumps can be added to the carrier observation value of the non-reference satellite to complete the cycle slip repair. If a frequency point of the reference satellite (the first satellite in the embodiment of the present invention) has a cycle slip, it will cause the double difference ambiguity of the same frequency point of all other satellites (the second satellite in the embodiment of the present invention). Non-zero. If the ambiguity search shows that all double-difference ambiguities at a certain frequency are equal, it means that only reference star i has a cycle slip. In this case, only the whole number of cycles of the jump is added to the carrier observation value of the reference star.

[0105] The k in formula (7) can be 1, 2, 3, etc. Regardless of whether the receiver is single-frequency, dual-frequency or multi-frequency, cycle slip detection and repair can be achieved. Carrier observation values ​​of multiple frequency points can be detected and repaired simultaneously. In the process of selecting a reference satellite, the satellite with the largest number of observation frequency points and the highest altitude angle can be selected as the reference satellite (the first satellite in the embodiment of the present invention).

[0106] The frequencies and clock errors of carrier observations of different satellite systems may be different. Therefore, in the process of cycle slip detection and repair, each satellite system needs to select a reference star and find the difference between the carrier observations within the system to complete the cycle slip detection and repair. The application example of the present invention does not use pseudorange and Doppler observations with large noise and multipath errors, so the detection and repair success rate is higher.

[0107] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for implementing cycle slip processing, comprising: determining whether a cycle slip occurs in a global satellite navigation system GNSS according to double difference ambiguities of the first satellite and each of the second satellites; When determining that a GNSS cycle slip occurs, determining a satellite where the cycle slip occurs according to a double difference ambiguity between the first satellite and each second satellite; Determine the number of cycle jumps through a preset algorithm; According to the determined number of full cycles of jump, the cycle slip of the satellite that has cycle slip is repaired; The first satellite is the satellite with the largest number of observation frequency points in the GNSS; and the second satellite includes the remaining satellites in the GNSS except the first satellite.

2. The method according to claim 1, characterized in that The determining whether a cycle slip occurs in the GNSS comprises: Calculating a single-difference carrier observation value of the first satellite at a preset frequency point; Calculate the single difference carrier observation value of each second satellite at the preset frequency point respectively; Determine the double difference ambiguity between the first satellite and each of the second satellites at the preset frequency epoch according to the calculated single difference carrier observation value of the first satellite and the single difference carrier observation values ​​of each of the second satellites; When the double difference ambiguity is greater than a preset threshold, determining that a cycle slip occurs in the GNSS; When the double difference ambiguity is less than or equal to the preset threshold, it is determined that the GNSS does not have a cycle slip.

3. The method according to claim 2, characterized in that The step of determining a satellite where a cycle slip occurs according to double difference ambiguities of the first satellite and each second satellite comprises: When all the double-difference ambiguities are equal, determining that the first satellite has a cycle slip; When the double difference ambiguities are not completely equal, it is determined that a cycle slip occurs on the second satellite when the double difference ambiguity is greater than a preset threshold.

4. The method according to claim 1, characterized in that: The step of determining the number of cycle jump transitions of the cycle slip by using a preset algorithm includes: The jump integer number is determined by a LAMBDA ambiguity search algorithm.

5. The method according to any one of claims 1 to 4, characterized in that: The step of repairing a cycle slip of a satellite having a cycle slip comprises: The jump integer number is added to the carrier of the satellite determined to have a cycle slip.

6. A computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the method for realizing cycle slip processing according to any one of claims 1 to 5 is implemented.

7. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for implementing cycle slip processing according to any one of claims 1 to 5 is implemented.

8. A device for implementing cycle slip processing, comprising: A detection unit, a first determination unit, a second determination unit and a repair unit; wherein, The detection unit is configured to: determine whether a cycle slip occurs in a global satellite navigation system GNSS according to a double difference ambiguity between the first satellite and each second satellite; The first determination unit is configured to: when determining that a cycle slip occurs in the GNSS, determine the satellite where the cycle slip occurs according to the double difference ambiguity between the first satellite and each second satellite; The second determining unit is configured to: determine the number of cycle slip transitions by a preset algorithm; The repair unit is configured to: perform cycle slip repair on the satellite having cycle slip according to the determined number of whole cycle jumps; The first satellite is the satellite with the largest number of observation frequency points in the GNSS; and the second satellite includes the remaining satellites in the GNSS except the first satellite.

9. The device according to claim 8, characterized in that The detection unit is configured as follows: Calculating a single-difference carrier observation value of the first satellite at a preset frequency point; Calculate the single difference carrier observation value of each second satellite at the preset frequency point respectively; Determine the double difference ambiguity between the first satellite and each of the second satellites at the preset frequency epoch according to the calculated single difference carrier observation value of the first satellite and the single difference carrier observation values ​​of each of the second satellites; When the double difference ambiguity is greater than a preset threshold, determining that a cycle slip occurs in the GNSS; When the double difference ambiguity is less than or equal to the preset threshold, it is determined that the GNSS does not have a cycle slip.

10. The device according to claim 9, characterized in that The first determining unit is configured to: When all the double-difference ambiguities are equal, determining that the first satellite has a cycle slip; When the double difference ambiguities are not completely equal, it is determined that a cycle slip occurs on the second satellite when the double difference ambiguity is greater than a preset threshold.

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