GNSS receiver pseudorange anomaly detection method and device

Abstract

The present invention discloses a GNSS receiver pseudorange anomaly detection method and device, wherein the method includes: tracking and capturing M satellites through M groups of satellite receiving channels, generating and saving the current epoch satellite pseudorange observations and carrier phase observations; correcting the epoch satellite pseudorange observations to eliminate N invalid satellites; obtaining M‑N carrier phase single differences and M‑N carrier phase double differences of the current epoch; dividing the M‑N carrier phase double differences into two groups A and B; if the M‑N‑value is less than a specific number, performing PVT solution using the pseudorange observations corresponding to the latched M‑N satellites; if the value of M‑N‑K is greater than or equal to a specific number, performing PVT solution by eliminating a specific number of satellites with abnormal pseudorange observations. The present invention utilizes the characteristic of small measurement error of carrier phase observations in a stable tracking and locking state to select effective pseudorange observations for PVT settlement, solving the problem of large errors in solution results due to slight anomalies in pseudorange observations.

Description

Technical Field

[0001] The present invention relates to the technical field of GNSS anomaly detection, and in particular to a GNSS receiver pseudorange anomaly detection method and device. Background Art

[0002] In the field of GNSS satellite navigation and positioning receiver technology, solving the receiver position and clock error through multiple pseudo-range observation series equations is the basic principle for achieving absolute positioning, so the validity of pseudo-range observations is particularly important. In reality, the receiver signal tracking process will be affected by interference, distortion, multipath, etc., causing abnormal values ​​in the pseudo-range observations. At present, most receivers use the difference between the pseudo-range observations of adjacent epochs, and compare the difference with the threshold. The product of the maximum acceleration that the receiver can achieve with high dynamics and the measurement time interval is usually used as the threshold. When the difference exceeds the threshold, the pseudo-range measurement is judged to be abnormal. After the satellites with abnormal pseudo-range observations are invalidated, PVT solution is performed, and the solution result is much smoother than before elimination. However, although the above-mentioned pseudo-range anomaly determination method ensures that there are no abnormal jump points in the solution result, the threshold corresponding to the maximum acceleration is usually high, so the false alarm rate will also be high. When there is a slight anomaly in the pseudo-range measurement, it may cause a large error in the solution result. Summary of the invention

[0003] The purpose of the present invention is to provide a GNSS receiver pseudorange anomaly detection method and device, aiming to solve the above-mentioned problems in the prior art.

[0004] The present invention provides a GNSS receiver pseudorange anomaly detection method, comprising:

[0005] Track and capture M satellites through M sets of satellite receiving channels, generate and save the satellite pseudo-range observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1;

[0006] Correct the epoch satellite pseudorange observations and remove N invalid satellites. The number of satellites is MN, and the corresponding satellite receiving channels are MN groups. Perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN single-difference carrier phase values. Subtract the single-difference carrier phase value corresponding to the same satellite in the previous epoch from the current epoch to obtain MN double-difference carrier phase values ​​in the current epoch, where N is a positive integer less than M.

[0007] Divide MN carrier phase double differences into group A and group B, wherein the number of carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to the specific double difference, and K is a positive integer less than MN;

[0008] Determine whether the MN-value is less than a specific number. If it is less than a specific value, directly use the pseudo-range observations corresponding to the MN satellites locked for PVT solution; if the MNK value is greater than or equal to a specific number, then remove a specific number of satellites with abnormal pseudo-range observations for PVT solution.

[0009] An embodiment of the present invention provides a GNSS receiver pseudorange anomaly detection device, comprising:

[0010] The data acquisition module 40 is used to track and capture M satellites through M sets of satellite receiving channels, generate and save the satellite pseudo-range observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1;

[0011] The double difference acquisition module 42 is used to correct the epoch satellite pseudorange observations and remove N invalid satellites, where the number of satellites is MN and the corresponding satellite receiving channels are MN groups; perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN carrier phase single differences; obtain MN carrier phase double differences of the current epoch by subtracting the carrier phase single difference corresponding to the same satellite of the previous epoch from the current epoch, where N is a positive integer less than M;

[0012] The grouping module 44 divides MN carrier phase double differences into group A and group B, wherein the number of carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to the specific double difference, and K is a positive integer less than MN

[0013] The solution module 46 determines whether the MN-value is less than a specific number. If it is less than the specific value, the PVT solution is directly performed using the pseudo-range observations corresponding to the latched MN satellites; if the MNK value is greater than or equal to the specific number, the PVT solution is performed by eliminating a specific number of satellites with abnormal pseudo-range observations.

[0014] An embodiment of the present invention further provides an electronic device, including:

[0015] processor; and,

[0016] A memory is arranged to store computer executable instructions, which, when executed, cause the processor to perform the steps of the above-mentioned GNSS receiver pseudorange anomaly detection method.

[0017] An embodiment of the present invention further provides a computer-readable storage medium, on which a program for implementing information transmission is stored, and when the program is executed by a processor, the steps of the above-mentioned GNSS receiver pseudorange anomaly detection method are implemented.

[0018] By adopting the embodiment of the present invention, the effective pseudo-range observation quantity is selected for PVT settlement by utilizing the characteristic of small measurement error of carrier phase observation quantity in a stable tracking and locking state, thereby solving the problem of large error in solution result caused by slight anomaly of pseudo-range observation quantity.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a flow chart of a GNSS receiver pseudorange anomaly detection method according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of channels in an embodiment of the present invention capturing and tracking the same satellite in groups of two;

[0023] Figure 3 This is a typical existing pseudorange anomaly detection method flow of an embodiment of the present invention;

[0024] Figure 4 A specific calculation flow chart of the GNSS receiver pseudorange anomaly detection method according to an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a GNSS receiver pseudorange anomaly detection device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be described clearly and completely in conjunction with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Method Embodiment

[0028] According to an embodiment of the present invention, a method for detecting pseudorange anomaly of a GNSS receiver is provided. Figure 1 : is a flow chart of a method for detecting pseudorange anomaly of a GNSS receiver according to an embodiment of the present invention. Figure 1 As shown, the GNSS receiver pseudorange anomaly detection method according to an embodiment of the present invention specifically includes:

[0029] Step S101, tracking and capturing M satellites through M sets of satellite receiving channels, generating and saving satellite pseudorange observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1; Step S101 specifically includes:

[0030] On the basis of the original number of satellite receiving channels of the receiver, the same number of satellite receiving channels is added. If the number of idle channels meets the requirements, there is no need to increase them and they can be used directly. During the satellite capture and tracking process, the control channels are grouped in pairs to capture and track the same satellite. If M satellites are tracked, M groups of channels are used. Figure 2 The schematic diagram of the channels in the embodiment of the present invention capturing and tracking the same satellite in pairs is shown. By processing the observations of adjacent epochs, the observations of the current epoch are generated and saved, including the satellite number, pseudorange observations, and carrier phase observations.

[0031] Step S102, correct the epoch satellite pseudorange observations and remove N invalid satellites, the number of satellites is MN, and the corresponding satellite receiving channels are MN groups; perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN carrier phase single difference values; obtain MN carrier phase double difference values ​​of the current epoch by subtracting the carrier phase single difference value corresponding to the same satellite of the previous epoch from the current epoch, where N is a positive integer less than M; Step S102 specifically includes:

[0032] The satellite pseudo-range observations are corrected using parameters such as satellite clock error, ionospheric delay, tropospheric delay, and corresponding effect. The carrier phase observations of each satellite after correction are and Can be expressed as:

[0033]

[0034]

[0035] Where, the superscript (i) represents the satellite number, the subscripts 1 and 2 represent the satellite channel 1 and channel 2 of the (i) group, λ represents the wavelength, r represents the geometric distance between the receiver and the satellite, f represents the carrier frequency, and δt u represents the receiver clock error, δt (i) Identify the clock error of satellite (i), represents the carrier phase integer ambiguity of the (i)th group channel 1, represents the carrier phase integer ambiguity of the (i)th group of channel 2, represents the carrier phase measurement side noise of channel 1 of group (i), It represents the carrier phase measurement side noise of channel 2 of the (i)th group.

[0036] When performing PVT solution, satellites with low elevation angles and low signal-to-noise ratios will bring certain measurement errors to the solution results. This step eliminates satellites with low elevation angles and low signal-to-noise ratios according to the satellite selection principle. After elimination, the number of received satellites becomes MN, and the corresponding number of channels is MN.

[0037] Then, the carrier phase observations of the MN group channels are interpolated within the group, and MN carrier phase single differences are obtained and saved by subtracting formula 2 from formula 1. For the same group of satellite channels, the geometric distance between the receiver and the satellite, the carrier frequency, the receiver clock error, and the clock error of the satellite (i) are equal. The single difference is recorded as It can be expressed as:

[0038]

[0039] use express express but It is expressed as:

[0040]

[0041] The single difference of the carrier phase of the current k-epoch satellite (i) is recorded as Then the single difference of the carrier phase of satellite (i) at epoch k-1 is recorded as The corresponding

[0042]

[0043]

[0044] Subtract the single difference of the carrier phase of satellite (i) at the k-1 epoch from the current K epoch to obtain and save the MN double differences of the carrier phase at the current epoch. The double differences are recorded as It can be expressed as:

[0045]

[0046] When the receiver continues to lock onto satellite (i) and the corresponding pseudorange observations are normal, and Keeping the noise-related The value of is in centimeters, so the current epoch Should be a value less than 10.

[0047] Step S103, dividing MN carrier phase double differences into group A and group B, wherein the number of carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to a specific double difference, and K is a positive integer less than MN; Step S103 specifically includes:

[0048] This step divides MN carrier phase double differences into two groups, A and B. The carrier phase double differences of group A are recorded as are all greater than 10, and contain K double differences in total. The carrier phase double differences of group B are recorded as Are all no more than 10, and contain a total of MNK double differences.

[0049] Step S104, determine whether the MN-value is less than a specific number. If it is less than a specific value, directly use the pseudo-range observations corresponding to the MN satellites locked to perform PVT solution; if the value of MNK is greater than or equal to a specific number, then remove a specific number of satellites with abnormal pseudo-range observations to perform PVT solution. Step S104 specifically includes:

[0050] Determine whether the value of MNK is less than 4. The corresponding pseudorange observations cannot establish equations to solve the geometric distance, cannot calculate the predicted pseudorange of satellite (i), and cannot perform pseudorange anomaly detection. Therefore, when MNK is less than 4, the pseudorange observations corresponding to the latched MN satellites are directly used to perform PVT calculations.

[0051] When MNK is not less than 4, the double difference of the phase of MNK carriers in group B is used. The corresponding pseudo-range observations of satellite (i) and satellite positions establish a quaternary nonlinear equation system and calculate the least squares solution Y. The equation system is expressed as follows:

[0052]

[0053] in, represents the pseudorange observation of satellite (i) in group B, represents the position coordinates of satellite (i) of group B, [x Y ,y Y ,z Y ] indicates that the receiver position coordinates are obtained by using the B group of observations, δt u,Y It means that the receiver clock error is calculated using the B group of observations.

[0054] Use A group of K carrier phase double differences respectively Corresponding satellite position Calculate the K predicted pseudoranges of group A with the least squares solution Y (~ indicates predicted value) The calculation formula is as follows:

[0055]

[0056] The double difference of the phase of K carriers in group A is The corresponding K pseudo-range observations and the corresponding K predicted pseudoranges There are H large differences (greater than 10) in total, corresponding to H satellites with abnormal pseudorange observations.

[0057] Eliminate H satellites with abnormal pseudorange observations, latch the pseudorange observations of the remaining available satellites MNH, and use the pseudorange observations corresponding to the latched MNH satellites to perform PVT solution, and the solution results.

[0058] like Figure 3 The figure shows the flow of a typical existing pseudorange anomaly detection method according to an embodiment of the present invention. The product of the maximum acceleration that the receiver can achieve with high dynamics and the measurement time interval is used as the threshold. When the difference exceeds the threshold, the pseudorange measurement is judged to be abnormal. After the satellites with abnormal pseudorange observations are invalidated, the PVT solution is performed, and the solution result is much smoother than before the elimination. However, although the pseudorange anomaly determination method ensures that there are no abnormal jump points in the solution result, the threshold corresponding to the maximum acceleration is usually high, and thus the false alarm rate will also be high. Figure 4 The figure is a specific calculation flow chart of the GNSS receiver pseudorange anomaly detection method according to an embodiment of the present invention.

[0059] The following beneficial effects are achieved by adopting the embodiments of the present invention:

[0060] By utilizing the small measurement error of carrier phase observation under stable tracking and locking state, effective pseudorange observation is selected for PVT settlement, which solves the problem of large error in solution result caused by slight anomaly of pseudorange observation.

[0061] Device Example 1

[0062] According to an embodiment of the present invention, a GNSS receiver pseudorange anomaly detection device is provided. Figure 5 is a schematic diagram of a GNSS receiver pseudorange anomaly detection device according to an embodiment of the present invention. Figure 5 As shown, the GNSS receiver pseudorange anomaly detection device according to an embodiment of the present invention specifically includes:

[0063] The data acquisition module 50 is used to track and capture M satellites through M sets of satellite receiving channels, generate and save the satellite pseudo-range observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1; the data acquisition module 50 is specifically used to:

[0064] On the basis of the original number of satellite receiving channels of the receiver, the same number of satellite receiving channels is added. If the number of idle channels meets the requirements, there is no need to increase them and they can be used directly. During satellite capture and tracking, control channels capture and track the same satellite in groups of two. If M satellites are tracked, M groups of channels are used. By processing the observations of adjacent epochs, the observations of the current epoch are generated and saved, including satellite number, pseudorange observations, and carrier phase observations.

[0065] The double difference acquisition module 52 is used to correct the epoch satellite pseudorange observations and remove N invalid satellites, where the number of satellites is MN and the corresponding satellite receiving channels are MN groups; perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN carrier phase single differences; obtain MN carrier phase double differences of the current epoch by subtracting the carrier phase single difference corresponding to the same satellite of the previous epoch from the current epoch, where N is a positive integer less than M; the double difference acquisition module 52 is specifically used to:

[0066] The satellite pseudo-range observations are corrected using parameters such as satellite clock error, ionospheric delay, tropospheric delay, and corresponding effect. The carrier phase observations of each satellite after correction are and Can be expressed as:

[0067]

[0068]

[0069] Where, the superscript (i) represents the satellite number, the subscripts 1 and 2 represent the satellite channel 1 and channel 2 of the (i)th group, λ represents the wavelength, r represents the geometric distance between the receiver and the satellite, f represents the carrier frequency, and δt u represents the receiver clock error, δt (i) Identify the clock error of satellite (i), represents the carrier phase integer ambiguity of the (i)th group channel 1, represents the carrier phase integer ambiguity of the (i)th group of channel 2, represents the carrier phase measurement side noise of channel 1 of group (i), It represents the carrier phase measurement side noise of channel 2 of the (i)th group.

[0070] When performing PVT solution, satellites with low elevation angles and low signal-to-noise ratios will bring certain measurement errors to the solution results. This step eliminates satellites with low elevation angles and low signal-to-noise ratios according to the satellite selection principle. After elimination, the number of received satellites becomes MN, and the corresponding number of channels is MN.

[0071] Then, the carrier phase observations of the MN group channels are interpolated within the group, and MN carrier phase single differences are obtained and saved by subtracting formula 2 from formula 1. For the same group of satellite channels, the geometric distance between the receiver and the satellite, the carrier frequency, the receiver clock error, and the clock error of the satellite (i) are equal. The single difference is recorded as It can be expressed as:

[0072]

[0073] use express express but It is expressed as:

[0074]

[0075] The single difference of the carrier phase of the current k-epoch satellite (i) is recorded as Then the single difference of the carrier phase of satellite (i) at epoch k-1 is recorded as The corresponding

[0076]

[0077]

[0078] Subtract the single difference of the carrier phase of satellite (i) at the k-1 epoch from the current K epoch to obtain and save the MN double differences of the carrier phase at the current epoch. The double differences are recorded as It can be expressed as:

[0079]

[0080] When the receiver continues to lock onto satellite (i) and the corresponding pseudorange observations are normal, and Keeping the noise-related The value of is in centimeters, so the current epoch Should be a value less than 10.

[0081] The grouping module 54 divides MN carrier phase double differences into group A and group B, wherein the number of carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to a specific double difference, and K is a positive integer less than MN; the grouping module 54 is specifically used to:

[0082] Divide MN carrier phase double differences into two groups, A and B. The carrier phase double differences of group A are recorded as are all greater than 10, and contain K double differences in total. The carrier phase double differences of group B are recorded as Are all no more than 10, and contain a total of MNK double differences.

[0083] The solution module 56 determines whether the MN value is less than a specific number. If it is less than the specific value, the PVT solution is directly performed using the pseudo-range observations corresponding to the MN satellites latched. If the value of MNK is greater than or equal to a specific number, the PVT solution is performed by eliminating a specific number of satellites with abnormal pseudo-range observations. The solution module 56 is specifically used for:

[0084] Determine whether the value of MNK is less than 4. The corresponding pseudorange observations cannot establish equations to solve the geometric distance, cannot calculate the predicted pseudorange of satellite (i), and cannot perform pseudorange anomaly detection. Therefore, when MNK is less than 4, the pseudorange observations corresponding to the latched MN satellites are directly used to perform PVT calculations.

[0085] When MNK is not less than 4, the double difference of the phase of MNK carriers in group B is used. The corresponding pseudo-range observations of satellite (i) and satellite positions establish a quaternary nonlinear equation system and calculate the least squares solution Y. The equation system is expressed as follows:

[0086]

[0087] in, represents the pseudorange observation of satellite (i) in group B, represents the position coordinates of satellite (i) of group B, [x Y ,y Y ,z Y ] indicates that the receiver position coordinates are obtained by using the B group of observations, δt u,Y It means that the receiver clock error is calculated using the B group of observations.

[0088] Use A group of K carrier phase double differences respectively Corresponding satellite position Calculate the K predicted pseudoranges of group A with the least squares solution Y (~ indicates predicted value) The calculation formula is as follows:

[0089]

[0090] The double difference of the phase of K carriers in group A is The corresponding K pseudo-range observations and the corresponding K predicted pseudoranges There are H large differences (greater than 10) in total, corresponding to H satellites with abnormal pseudorange observations.

[0091] Eliminate H satellites with abnormal pseudorange observations, latch the pseudorange observations of the remaining available satellites MNH, and use the pseudorange observations corresponding to the latched MNH satellites to perform PVT solution, and the solution results.

[0092] The following beneficial effects are achieved by adopting the embodiments of the present invention:

[0093] By utilizing the small measurement error of carrier phase observation under stable tracking and locking state, effective pseudorange observation is selected for PVT settlement, which solves the problem of large error in solution result caused by slight anomaly of pseudorange observation.

[0094] Device Example 2

[0095] An embodiment of the present invention provides an electronic device, including:

[0096] processor; and,

[0097] A memory arranged to store computer executable instructions, which, when executed, cause the processor to perform the steps as described in the above method embodiments.

[0098] Device Example 3

[0099] An embodiment of the present invention provides a computer-readable storage medium, on which a program for implementing information transmission is stored. When the program is executed by a processor, the steps described in the method embodiment are implemented.

[0100] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0101] The above description is only an embodiment of this document and is not intended to limit this document. For those skilled in the art, this document may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this document should be included in the scope of the claims of this document.

Claims

1. A GNSS receiver pseudorange anomaly detection method, characterized in that: include: Track and capture M satellites through M sets of satellite receiving channels, generate and save the satellite pseudo-range observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1; Correct the satellite pseudorange observations of the epoch, and remove N invalid satellites, the number of satellites is MN, and the corresponding satellite receiving channels are MN groups; perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels, and obtain MN carrier phase single difference values; obtain MN carrier phase double difference values ​​of the current epoch by subtracting the carrier phase single difference value corresponding to the same satellite of the previous epoch from the current epoch, where N is a positive integer less than M; Divide the MN carrier phase double differences into group A and group B, wherein the number of the carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of the carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to a specific double difference, and K is a positive integer less than MN; Determine whether the MNK value is less than a specific number. If it is less than the specific value, directly use the pseudo-range observations corresponding to the MN satellites locked to perform PVT solution; if the MNK value is greater than or equal to the specific number, perform PVT solution by eliminating a specific number of satellites with abnormal pseudo-range observations; Wherein, performing PVT solution by eliminating a specific number of satellites with abnormal pseudorange observations specifically includes: The least square solution Y is obtained by using the pseudo-range observations and satellite positions corresponding to the MNK carrier phase double differences of group B; Calculate the corresponding K predicted pseudoranges by using the satellite positions corresponding to the K carrier phase double differences in group A and the least squares solution Y; Performing a difference comparison between the K pseudorange observations corresponding to the K carrier phase double differences in group A and the corresponding K predicted pseudoranges, thereby obtaining a specific number of satellites with abnormal pseudorange observations, and eliminating the specific number of satellites with abnormal pseudorange observations; The remaining available satellite pseudo-range observations of the MNH are latched and the available satellite pseudo-range observations of the MNH are used to perform PVT solution.

2. The method according to claim 1, characterized in that The tracking and capturing of M satellites through M sets of satellite receiving channels specifically includes: Set two satellite receiving channels as a group to track and capture a satellite.

3. The method according to claim 1, characterized in that: The correction of the epoch satellite pseudorange observations specifically includes: The epoch satellite pseudorange observation is corrected according to the satellite clock error, ionospheric delay, tropospheric delay and corresponding effects, and the carrier phase observation of the corrected satellite is obtained by formula 1 and formula 2; Where i represents the satellite number, subscripts 1 and 2 represent channel 1 and channel 2 of the i-th group of satellites, λ represents the wavelength, r represents the geometric distance between the receiver and the satellite, f represents the carrier frequency, and δt u represents the receiver clock error, δt (i) Identifies the clock error of satellite i, represents the carrier phase integer ambiguity of the i-th group channel 1, represents the carrier phase integer ambiguity of the i-th group channel 2, represents the carrier phase measurement side noise of channel 1 of group i, represents the carrier phase measurement side noise of channel 2 of the i-th group, represents the carrier phase observation of channel 1 of the i-th group, Represents the carrier phase observation of channel 2 of the i-th group.

4. The method according to claim 3, characterized in that The step of performing intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN carrier phase single difference values; and obtaining MN carrier phase double difference values ​​of the current epoch by subtracting the carrier phase single difference value corresponding to the same satellite of the previous epoch from the current epoch specifically includes: By performing intra-group difference on the carrier phase observations of the satellite receiving channels of the MN group, MN carrier phase single difference values ​​are obtained by using Formula 3; Will Expressed as Right now represents the difference between the carrier phase integer ambiguity of the i-th group channel 1 and the carrier phase integer ambiguity of the i-th group channel 2. Expressed as Right now Expressed as the difference between the carrier phase measurement side noise of the i-th group channel 1 and the carrier phase measurement side noise of the i-th group channel 2, Formula 3 is expressed in the form of Formula 4; The single difference of the carrier phase of the current epoch satellite and the single difference of the carrier phase of the previous epoch satellite i are obtained by formula 5 and formula 6. in, It is expressed as the difference between the channel 1 carrier phase integer ambiguity and the channel 2 carrier phase integer ambiguity of the i-th group of the current epoch, It is expressed as the difference between the carrier phase measurement noise of channel 1 and the carrier phase measurement noise of channel 2 of the i-th group of channels in the current epoch, It is expressed as the difference between the channel 1 carrier phase integer ambiguity and the channel 2 carrier phase integer ambiguity of the i-th group in the previous epoch, It is expressed as the difference between the carrier phase measurement noise of channel 1 and the carrier phase measurement noise of channel 2 of the i-th group of channels in the previous epoch, is the single difference of the carrier phase of satellite i at the current epoch, is the single difference of the carrier phase of satellite i in the previous epoch; Subtract the single difference of the satellite carrier phase in the previous epoch from the current epoch to obtain and save MN double differences of the carrier phase in the current epoch. The double differences are recorded as Get the double difference value by formula 7 Where k is the current epoch and k-1 is the previous epoch.

5. The method according to claim 1, characterized in that The least square solution Y obtained by using the pseudorange observations and satellite positions corresponding to the MNK carrier phase double differences of group B specifically includes: Through the B group MNK carrier phase double difference The corresponding pseudo-range observations of satellite i and satellite positions establish a quaternary nonlinear equation system and calculate the least squares solution Y. The equation system is expressed as shown in Formula 8: in, represents the pseudorange observation of satellite i in group B, represents the position coordinates of satellite i in group B, [x Y ,y Y ,z Y ] indicates that the receiver position coordinates are obtained by using the B group of observations, δt u,Y It means that the receiver clock error is calculated using the B group of observations.

6. The method according to claim 5, characterized in that The calculating of the corresponding K predicted pseudoranges by using the satellite positions corresponding to the K carrier phase double differences in group A and the least squares solution Y specifically includes: According to formula 9, K predicted pseudoranges are obtained:

7. A GNSS receiver pseudorange anomaly detection device, characterized in that: include: The data acquisition module is used to track and capture M satellites through M sets of satellite receiving channels, generate and save the satellite pseudo-range observations and carrier phase observations of the current epoch, where M is a positive integer greater than 1; The double difference acquisition module is used to correct the satellite pseudo-range observations of the epoch and remove N invalid satellites, the number of satellites is MN, and the corresponding satellite receiving channels are MN groups; perform intra-group difference on the carrier phase observations of the MN groups of satellite receiving channels to obtain MN carrier phase single differences; obtain MN carrier phase double differences of the current epoch by subtracting the carrier phase single difference corresponding to the same satellite of the previous epoch from the current epoch, where N is a positive integer less than M; A grouping module is provided for dividing the MN carrier phase double differences into group A and group B, wherein the number of the carrier phase double differences in group A is K, and the K carrier phase double differences are all greater than a specific double difference, the number of the carrier phase double differences in group B is MNK, and the MNK carrier phase double differences are all less than or equal to a specific double difference, and K is a positive integer less than MN; A solution module is used to determine whether the MNK value is less than a specific number. If it is less than the specific value, the PVT solution is directly performed using the pseudo-range observations corresponding to the MN satellites latched; if the MNK value is greater than or equal to the specific number, the PVT solution is performed by eliminating a specific number of satellites with abnormal pseudo-range observations; Wherein, performing PVT solution by eliminating a specific number of satellites with abnormal pseudorange observations specifically includes: The least square solution Y is obtained by using the pseudo-range observations and satellite positions corresponding to the MNK carrier phase double differences of group B; Calculate the corresponding K predicted pseudoranges by using the satellite positions corresponding to the K carrier phase double differences in group A and the least squares solution Y; Performing a difference comparison between the K pseudorange observations corresponding to the K carrier phase double differences in group A and the corresponding K predicted pseudoranges, thereby obtaining a specific number of satellites with abnormal pseudorange observations, and eliminating the specific number of satellites with abnormal pseudorange observations; The remaining available satellite pseudo-range observations of the MNH are latched and the available satellite pseudo-range observations of the MNH are used to perform PVT solution.

8. An electronic device comprising: processor; as well as, A memory arranged to store computer executable instructions, which, when executed, cause the processor to perform the steps of the GNSS receiver pseudorange anomaly detection method according to any one of claims 1 to 6.

9. A storage medium for storing computer executable instructions, wherein the computer executable instructions, when executed, implement the steps of the GNSS receiver pseudorange anomaly detection method according to any one of claims 1 to 6.

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