Carrier phase polarity determination method and device, chip and electronic equipment

Abstract

The application provides a carrier phase polarity determination method and device, a chip and electronic equipment. The method comprises the following steps: determining the polarity of a frequency point of a satellite signal; determining whether the frequency point is stably tracked in the case that the polarity of the frequency point is invalid; determining whether the frequency point has a cycle slip in the case that the frequency point is stably tracked; and modifying the polarity of the frequency point as valid in the case that the frequency point has no cycle slip. In the case that the polarity of the frequency point is determined as invalid for the first time, in order to avoid misjudgment, the stable tracking condition and the cycle slip condition of the frequency point are determined again, and the polarity of the frequency point is modified as valid in the case that the frequency point is stably tracked and has no cycle slip, so that the carrier observation value is continuous. The application can better maintain the polarity of the carrier phase, reduce the problem of invalid polarity caused by high navigation message error rate, and improve the continuity and availability of the carrier phase.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and in particular to a carrier phase polarity determination method, device, chip, and electronic device. Background Technology

[0002] The Global Navigation Satellite System (GNSS) currently consists of four major systems: the United States' Global Positioning System (GPS), Russia's GLONASS, China's BeiDou Navigation Satellite System (BDS), and the European Union's Galileo Satellite Navigation System. It can provide users on the Earth's surface and in near-Earth space with all-weather, wide-area, long-term continuous, real-time, high-precision positioning, velocity measurement, and timing services.

[0003] GNSS mainly consists of three parts: the space constellation segment, the ground monitoring segment, and the user equipment segment. The user equipment segment refers to the GNSS receiver, whose main tasks are to track visible satellites, process the received satellite radio signals, obtain the measurement values ​​and navigation information required for positioning, and finally complete the positioning and navigation tasks for the user.

[0004] Real-time Kinematic (RTK) technology, based on carrier phase observations, provides centimeter-level positioning accuracy, making it widely used in surveying, control measurement, and transportation. Carrier phase polarity determination is a crucial step in obtaining carrier phase observations. After initial carrier tracking lock-up or reacquisition following a carrier tracking loop loss, the carrier phase needs integer initialization and polarity determination to obtain valid carrier phase observations for RTK positioning calculations. The efficiency and accuracy of carrier phase polarity determination directly affect the effectiveness of carrier phase observations. Rapidly providing a sufficient number of valid carrier phase observations allows RTK to complete initialization more quickly, thereby improving RTK operational efficiency.

[0005] Traditional carrier phase polarity determination methods all require matching and verifying feature fields using navigation messages. If the verification is successful, the carrier phase polarity can be determined normally; if the verification fails, the carrier phase will be invalid. However, since the signal-to-noise ratio (SNR) of the bit error rate is generally higher than that of carrier stable tracking, this leads to a higher probability of misjudgment, reducing the continuity and availability of the carrier phase. Summary of the Invention

[0006] This application provides a carrier phase polarity determination method, apparatus, chip, and electronic device, the main purpose of which is to reduce the probability of carrier phase misjudgment and effectively improve the continuity and availability of carrier phase.

[0007] In a first aspect, embodiments of this application provide a carrier phase polarity determination method, including:

[0008] The polarity of the frequency point of the satellite signal is determined. If the polarity of the frequency point is invalid, it is determined whether the frequency point is for stable tracking.

[0009] If the frequency point is under stable tracking, determine whether a cycle slip occurs at the frequency point;

[0010] If no cycle slip occurs at the specified frequency point, the polarity of the specified frequency point is modified to be valid.

[0011] Secondly, embodiments of this application provide a carrier phase polarity determination device, comprising:

[0012] The determination module is used to determine the polarity of the frequency point of the satellite signal, and if the polarity of the frequency point is invalid, determine whether the frequency point is for stable tracking.

[0013] The cycle slip module is used to determine whether a cycle slip occurs at the frequency point when the frequency point is being tracked stably.

[0014] The modification module is used to modify the polarity of the frequency point to be valid if no cycle slip occurs at the frequency point.

[0015] Thirdly, embodiments of this application provide a chip, including: a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program in the memory; when the computer program is executed by the processor, it implements any of the carrier phase polarity determination methods provided in the first aspect.

[0016] Fourthly, embodiments of this application provide an electronic device, including any of the carrier phase polarity determination devices provided in the first aspect, or a chip provided in the second aspect.

[0017] This application proposes a carrier phase polarity determination method, apparatus, chip, and electronic device. When the polarity of a frequency point is determined to be invalid, to avoid misjudgment, it assesses the frequency point's stable tracking status and whether cycle slips have occurred. If stable tracking is achieved and no cycle slips occur, the frequency point's polarity is modified to be valid, thereby ensuring continuous carrier observations. This application effectively maintains carrier phase polarity, reduces the problem of invalid polarity caused by high navigation message error rates, and improves the continuity and availability of carrier phase. Attached Figure Description

[0018] Figure 1 A flowchart illustrating a carrier phase polarity determination method provided in this application embodiment;

[0019] Figure 2 A flowchart illustrating a carrier phase polarity determination method provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the structure of a carrier phase polarity determination device provided in an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the structure of a chip provided in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0025] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0026] References such as “one embodiment” or “some embodiments” described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the terms “comprising,” “including,” “having,” and variations thereof, in this specification, mean “including but not limited to,” unless otherwise specifically emphasized.

[0027] In the existing technology, the carrier observation is valid only if the polarity is valid and no cycle slip has occurred. If no cycle slip has occurred but the polarity determination is invalid, the carrier observation is considered invalid, which may lead to misjudgment.

[0028] The relationship between the error rate and signal-to-noise ratio of navigation messages is shown in formulas (1) and (2):

[0029]

[0030]

[0031] Among them, T D C is the message bit period, and C / N0 is the signal carrier-to-noise ratio.

[0032] Taking BDS's high-orbit (GEO) satellites as an example: T D When C = 0.002 and C / N0 = 36 dB-Hz, the bit error rate is:

[0033]

[0034] Therefore, an erroneous bit may occur approximately every 61 seconds, causing frequent failures in BCH (Bose Ray Hocquenghem, an encoding method) decoding verification. However, for baseband tracking, when C / N0 is 36dB-Hz, the input signal-to-noise ratio of the phase-locked loop (PLL) is around 8dB, which can basically ensure that the PLL remains locked without integer or half-cycle skips. In this case, if a bit error causes a BCH verification failure, the message polarity will be marked as invalid, thus rendering the carrier observations unusable.

[0035] As GNSS constellations continue to evolve, most satellites support dual-frequency or multi-frequency signals. Due to differences in tracking methods, signal power and attenuation, and varying degrees of interference at different frequencies, when polarity determination based on message matching is ineffective, a carrier phase polarity determination method provided in this application can be used to determine whether a misjudgment of polarity has occurred.

[0036] Figure 1 A flowchart of a carrier phase polarity determination method provided in an embodiment of this application is shown below. Figure 1As shown, the method includes:

[0037] S110, determine the polarity of the frequency point of the satellite signal, and if the polarity of the frequency point is invalid, determine whether the frequency point is for stable tracking;

[0038] First, the polarity of the satellite signal frequency is determined. The determination method can be a polarity determination algorithm such as the synchronization header method or the message matching method. The specific method can be determined according to the actual situation. This application does not make specific limitations on this.

[0039] It should be noted that this synchronization header method can be a fast frame synchronization method based on navigation message redundancy information. This method can use navigation message redundancy information to assist in the algorithm of fast frame synchronization. After analysis, parameters that can be used as auxiliary frame synchronization were found. The method was verified on the navigation message of GPS NAV structure using a GNSS general software receiver as a platform. In some cases, it can effectively shorten the frame synchronization time, thereby shortening the user's time to first fix (TTFF).

[0040] This message matching method can be a carrier phase polarity determination method. First, the navigation message after fast frame synchronization is extracted. Based on the judgment result of whether the navigation message has completed parity check, the polarity of the carrier phase is determined based on the redundancy information pattern or the repetition of the navigation message.

[0041] In this embodiment, the polarity of the satellite signal frequency is determined. Since satellite signals generally include multiple frequency points, this refers to determining the polarity of each frequency point in the satellite signal. It should be noted that each satellite broadcasts satellite signals in multiple frequency bands, each with a different center frequency. Different frequency bands are referred to as different frequency points. For example, BeiDou-2 provides three public service signals, B1I, B2I, and B3I, in the B1, B2, and B3 frequency bands. The center frequency of the B1 band is 1561.098MHz, B2 is 1207.14MHz, and B3 is 1268.52MHz.

[0042] It should be noted that in the embodiments of this application, there are generally multiple frequency points, and the center frequency of each frequency point is different.

[0043] If the polarity of a certain frequency point is determined to be invalid, in order to avoid misjudgment, the frequency point is then determined again to see if it is tracking stably. The determination of whether it is tracking stably can be based on the jitter of the locked value, which can be determined according to the actual situation. This application does not make specific limitations on this.

[0044] It should be noted that if the polarity determination of the frequency point is valid, then the carrier phase polarity determination method provided in the embodiments of this application does not need to be executed.

[0045] S120, if the frequency point is stably tracked, determine whether a cycle slip occurs at the frequency point;

[0046] If the judgment result is stable tracking, then it is judged again whether a cycle slip occurs at that frequency point. The carrier phase cycle slip detection methods include: polynomial fitting method, high-order difference method, single-frequency code phase combination method, dual-frequency code phase combination method, ionospheric residual method, Doppler integral method, three-difference observation residual method and known baseline method. The specific cycle slip judgment method can be determined according to the actual situation. This application embodiment does not make specific limitations on this.

[0047] It should be noted that if the judgment result is not stable tracking, then maintaining the polarity of that frequency point is invalid, and subsequent steps will not be executed.

[0048] S130, if no cycle slip occurs at the frequency point, the polarity of the frequency point is modified to be valid.

[0049] If it is determined that no cycle slip has occurred at this frequency point, it indicates that the initial polarity determination was incorrect. The polarity determination result for this frequency point should be modified to make the polarity valid so that the subsequent observations are valid.

[0050] This application proposes a carrier phase polarity determination method. If the polarity of a frequency point is initially determined to be invalid, to avoid misjudgment, it further checks whether the frequency point is stably tracked and whether cycle slips have occurred. If the tracking is stable and no cycle slips have occurred, a misjudgment can be confirmed, and the frequency point's polarity can be corrected to be valid, thus ensuring continuous carrier observations. This application can better maintain carrier phase polarity, reduce the problem of invalid polarity caused by high navigation message error rates, and improve the continuity and availability of carrier phase.

[0051] In some embodiments, determining whether the frequency point is for stable tracking includes:

[0052] The locking value of the frequency point is calculated based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point.

[0053] If the locking value is greater than the preset locking threshold, then the frequency point is determined to be a stable tracking point.

[0054] As one implementation, calculating the lock value of the frequency point based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point includes:

[0055] Based on the amplitude of the satellite signal, the navigation message at the frequency, and the phase tracking error at the frequency, combined with the I-channel noise and the Q-channel noise, calculate the I-channel correlation value and the Q-channel correlation value;

[0056] The locking value of the frequency point is obtained based on the I-path correlation value and the Q-path correlation value.

[0057] The method for determining whether a frequency point is stably tracked in this embodiment can be specifically calculated based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point. First, based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point, the I-path correlation value and Q-path correlation value of the carrier loop tracking are calculated, as detailed in formulas (3) and (4):

[0058] I(k)≈AD(k)cosφ k +n e (t), (3)

[0059] Q(k)≈AD(k)sinφ k +n c (t), (4)

[0060] Where k represents the epoch number for calculating the carrier loop correlation value, A represents the amplitude of the satellite signal, D(k) represents the navigation message at a certain frequency in the kth epoch, and φ k This represents the phase tracking error at a certain frequency in the k-th epoch, where n e (t) represents the I-channel noise at a certain frequency in the k-th epoch, n c (t) represents the Q-path noise of a certain frequency point at the k-th epoch, I(k) represents the I-path correlation value of a certain frequency point at the k-th epoch, and Q(k) represents the Q-path correlation value of a certain frequency point at the k-th epoch.

[0061] During steady-state tracking, the Q-path correlation value is similar to white noise, so the lock value of the frequency point can be calculated according to formula (5):

[0062] LockValue = I(k) 2 / (I(k) 2 +Q(k) 2 (5) × 100

[0063] LockValue(k) represents the lock value of a certain frequency point in the kth epoch. The closer the value is to 100, the more stable the tracking is.

[0064] As one implementation, the step of obtaining the frequency lock value based on the I-path correlation value and the Q-path correlation value further includes:

[0065] The locked value is filtered, and the filtered locked value is used as the locked value for the frequency point again.

[0066] In actual implementation, due to the large fluctuation of the lock value, it is necessary to smooth the lock value before it can truly reflect the tracking stability. The lock value is smoothed according to formula (6), as follows:

[0067] LockValue filter (k+1)=(1-α)×LockValue filter (k)+α×LockValue(k+1), (6)

[0068] Among them, LockValue filter α represents the filtered lock value, where LockValue is the lock value calculated in formula (5), and α represents the filtering coefficient. In actual implementation, different α values ​​can be set according to the tracking parameters such as the integration time and loop bandwidth of the carrier phase-locked loop, the convergence state of the carrier tracking loop, and the carrier-to-noise ratio of the satellite signal. In this embodiment, α is set to 0.25.

[0069] After calculating the lock value according to formula (6), the lock value is compared with the preset lock threshold to determine whether the tracking is stable. Specifically, if the lock value is greater than the preset lock threshold, it means that the tracking is stable; if the lock value is not greater than the preset lock threshold, it means that the tracking is not stable.

[0070] It should be noted that the preset locking threshold can be determined according to the actual situation, and this application embodiment does not impose a specific limitation on it. For example, the preset locking threshold is 65.

[0071] Ionospheric residuals are suitable for cycle slip detection of dynamic, non-differential data, are unaffected by satellite and receiver clock errors, and have high accuracy, enabling the detection of small cycle slips. In this embodiment, ionospheric residuals are used to determine whether a cycle slip has occurred.

[0072] In some embodiments, determining whether a cycle slip occurs at the frequency point includes:

[0073] Determine the reference lock value based on the lock value of the frequency point;

[0074] When the reference lock value is greater than the preset reference threshold, the carrier phase combination observation value of the frequency point and the reference frequency point is calculated, and the ionospheric residual corresponding to the frequency point is obtained based on the carrier phase combination observation value of adjacent epochs. The reference frequency point is the frequency point corresponding to the reference lock value.

[0075] If the ionospheric residual is less than a preset residual threshold, it is determined that no cycle slip has occurred at the frequency point.

[0076] As one implementation, determining the reference lock value based on the lock value of the frequency point includes:

[0077] Calculate the lock value of multiple frequency points at any epoch, and use the maximum lock value among all lock values ​​as the reference lock value.

[0078] In this embodiment of the application, the locking value of all frequency points at any epoch is obtained. Specifically, refer to the calculation formula (5), take the maximum locking value among all locking values ​​as the reference locking value, and take the frequency point corresponding to the reference locking value as the reference frequency point.

[0079] After obtaining the reference lock value, compare the reference lock value with the preset reference threshold. If the reference lock value is greater than the preset reference threshold, continue with the subsequent steps. If the reference lock value is less than the preset reference threshold, there is no need to perform the subsequent steps.

[0080] It should be noted that an epoch is a reference point in time measurement, used to measure the starting point of time and date. It can be a specific moment, astronomical event, or calendar system used to calculate future times.

[0081] It should also be noted that the value of the preset reference threshold can be determined according to the actual situation, and this application embodiment does not impose a specific limitation on it. For example, the preset reference threshold is 75.

[0082] As one implementation, calculating the combined carrier phase observation of the frequency point and the reference frequency point includes:

[0083] Based on the carrier parameters corresponding to the frequency point and the reference frequency point, the combined carrier phase observation value of the frequency point is calculated. The carrier parameters include carrier frequency, carrier wavelength, integer number of cycles, and ionospheric delay.

[0084] When the reference lock value is greater than the preset reference threshold, the following example is taken from all frequency points to illustrate the calculation of the phase combination observation value of the target frequency point and the reference frequency point. Specifically, the calculation is performed using formula (7):

[0085]

[0086] Where, φ GF This represents the combined carrier phase observation, where f is the carrier frequency, N is the integer number of cycles, and δρ I，L1 For ionospheric delay, L1 represents the reference frequency and L2 represents the target frequency.

[0087] After calculating the carrier phase combination observation value, calculate the difference between any two adjacent epochs based on the carrier phase combination observation value, as shown in formula (8):

[0088]

[0089] If there is no cycle slip, the ionospheric residual between two adjacent epochs should be very small. Any anomalous change in this residual value could indicate that a cycle slip has occurred in one or both of the phase observations.

[0090] After calculating the ionospheric residuals of two adjacent epochs, the ionospheric residuals are compared with a preset residual threshold. If the ionospheric residuals are less than the preset residual threshold and the reference lock value is greater than the preset residual threshold, it is determined that the carrier phase polarity of the frequency signal is consistent with the previous observation period. At this time, even if the carrier polarity determination is invalid due to message errors, the carrier polarity will still be modified to be valid.

[0091] It should be noted that the specific value of the preset residual threshold can be determined according to the actual situation, and this application embodiment does not impose a specific limitation on it. For example, the preset residual threshold can be...

[0092] Figure 2 This is a flowchart of the carrier phase polarity determination method provided in the embodiments of this application, as shown below. Figure 2 As shown, after the initial carrier polarity determination fails, a multi-frequency loop tracking status judgment is used to determine whether the frequency point is stably tracked. If stable tracking is achieved, the ionospheric residual method is used to detect cycle slips; if it is determined that the tracking is not stable, the polarity failure is maintained. After detecting cycle slips using the ionospheric residual method, if a cycle slip is determined to have occurred at the frequency point, the polarity failure is maintained; if no cycle slip is determined to have occurred at the frequency point, the polarity is modified to be valid.

[0093] In some embodiments, after modifying the polarity of the frequency point to be valid, the method further includes:

[0094] Generate carrier observations and perform positioning based on the carrier observations.

[0095] The overall polarity determination and holding flowchart of the receiver in this application embodiment is as follows: First, the polarity of the frequency point is determined using polarity determination algorithms such as the synchronization header method and the message matching method. If the polarity determination is valid, the carrier phase observation is directly generated. If the polarity determination is invalid, the carrier phase polarity determination method in this application embodiment is used. If the above-mentioned ionospheric residual and loop tracking state requirements are met, polarity holding is performed and the carrier observation is generated.

[0096] The embodiments of this application can improve the efficiency and accuracy of carrier phase polarity determination, directly improving the effectiveness of carrier phase observations. Providing a sufficient number of effective carrier phase observations quickly enables RTK to complete initialization more quickly, thereby improving RTK operation efficiency.

[0097] To verify the results of the carrier phase polarity determination method provided in this application, a comparative test was conducted using a multi-frequency positioning receiver for a complete system in typical scenarios. Unobstructed scenarios and tree-shaded scenarios were used as application scenarios to compare the positioning performance of the RTK under the polarity preservation method used in this application and the traditional method not using this application.

[0098] For unobstructed scenarios, the traditional positioning method of this application is not used, and the RTK fixed solution ratio is 93%. For unobstructed scenarios, the carrier phase polarity determination method provided in the embodiments of this application is applied for positioning, and the RTK fixed solution ratio is 95%. Since the multi-frequency positioning receiver of the whole system supports multi-frequency RTK calculation and there are few scenarios of carrier phase loss, the difference in the RTK fixed solution ratio is not significant. However, in unobstructed scenarios, the RTK solution ratio of individual road segments is significantly improved.

[0099] In tree-shaded scenarios, the traditional positioning method of this application is not used, resulting in an RTK fixed solution ratio of 92%. However, when using the carrier phase polarity determination method provided in this application, the RTK fixed solution ratio reaches 98%. Furthermore, the carrier phase polarity determination method provided in this application provides more continuous and accurate positioning. Since tree-shaded scenarios involve more frequent carrier phase loss, there is a significant difference in the RTK fixed solution ratio between the two scenarios. Therefore, the carrier phase polarity determination method provided in this application provides higher and more continuous positioning accuracy.

[0100] In summary, the carrier phase polarity preservation method for GNSS receivers based on multi-frequency technology proposed in this application can effectively maintain the carrier phase polarity, reduce the polarity invalidity problem caused by navigation message error rate, and improve the continuity of the carrier phase. For typical urban canyon and tree-shaded scenarios, experimental results show that using the method proposed in this application improves the effectiveness of the carrier phase and increases the ratio of RTK fixed solutions.

[0101] Figure 3 This is a schematic diagram of a carrier phase polarity determination device provided in an embodiment of this application, as shown below. Figure 3 As shown, the device includes a determination module 210, a cycle slip module 220, and a modification module 230, wherein:

[0102] The determination module 210 is used to determine the polarity of the frequency point of the satellite signal. If the polarity of the frequency point is invalid, it determines whether the frequency point is for stable tracking.

[0103] The cycle slip module 220 is used to determine whether a cycle slip occurs at the frequency point when the frequency point is being tracked stably;

[0104] The modification module 230 is used to modify the polarity of the frequency point to be valid when no cycle slip occurs at the frequency point.

[0105] This embodiment is a system embodiment corresponding to the above method. Its implementation process is the same as that of the above method embodiment. For details, please refer to the above method embodiment. This system embodiment will not be described again here.

[0106] Each module in the aforementioned carrier phase polarity determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0107] Figure 4 This is a schematic diagram of the structure of a chip provided in an embodiment of this application, such as... Figure 4 As shown, the chip 300 includes a memory 310 and a processor 320, wherein the memory 310 stores a computer program, and the processor 320 is configured to execute the computer program in the memory 310; when the computer program is executed by the processor 320, it implements the carrier phase polarity determination method as described in any of the claims provided in the first aspect. The chip (Integrated Circuit, IC) can be, but is not limited to, a System on Chip (SOC) chip or a System in Package (SIP) chip.

[0108] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 5 As shown, the electronic device 400 includes a device body and a carrier phase polarity determination device 200 or chip 300, as described above, disposed within the device body. The electronic device may be, but is not limited to, a receiver, drone, wireless charger, fast charger, car charger, adapter, display, Universal Serial Bus (USB) docking station, true wireless earphones, car center console screen, automobile, smart wearable device, and mobile terminal. Smart wearable devices include, but are not limited to, smartwatches, smart bracelets, and neck massagers. Mobile terminals include, but are not limited to, smartphones, laptops, tablets, and point-of-sales terminals (POS machines).

[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0110] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for determining carrier phase polarity, characterized in that, include: The polarity of the frequency point of the satellite signal is determined. If the polarity of the frequency point is invalid, it is determined whether the frequency point is for stable tracking. If the frequency point is under stable tracking, determine whether a cycle slip occurs at the frequency point; If no cycle slip occurs at the specified frequency point, the polarity of the specified frequency point is modified to be valid; The step of determining whether the frequency point is for stable tracking includes: The locking value of the frequency point is calculated based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point. If the locking value is greater than the preset locking threshold, then the frequency point is determined to be a stable tracking point; Determining whether a cycle slip occurs at the frequency point includes: Calculate the locking value of multiple frequency points at any epoch, and take the maximum locking value among all locking values ​​as the reference locking value; When the reference lock value is greater than a preset reference threshold, the carrier phase combination observation value of the frequency point and the reference frequency point is calculated, and the ionospheric residual corresponding to the frequency point is obtained based on the carrier phase combination observation value of adjacent epochs. The reference frequency point is the frequency point corresponding to the reference lock value. If the ionospheric residual is less than a preset residual threshold, it is determined that no cycle slip has occurred at the frequency point.

2. The carrier phase polarity determination method according to claim 1, characterized in that, The step of calculating the lock value of the frequency point based on the amplitude of the satellite signal, the navigation message of the frequency point, and the phase tracking error of the frequency point includes: Based on the amplitude of the satellite signal, the navigation message at the frequency, and the phase tracking error at the frequency, combined with the I-channel noise and the Q-channel noise, calculate the I-channel correlation value and the Q-channel correlation value; The locking value of the frequency point is obtained based on the I-path correlation value and the Q-path correlation value.

3. The carrier phase polarity determination method according to claim 1, characterized in that, The calculation of the carrier phase combination observation value of the frequency point and the reference frequency point includes: Based on the carrier parameters corresponding to the frequency point and the reference frequency point, the combined carrier phase observation value of the frequency point is calculated. The carrier parameters include carrier frequency, carrier wavelength, integer number of cycles, and ionospheric delay.

4. The carrier phase polarity determination method according to claim 2, characterized in that, After obtaining the frequency lock value based on the I-path correlation value and the Q-path correlation value, the method further includes: The locked value is filtered, and the filtered locked value is used as the locked value for the frequency point again.

5. A carrier phase polarity determination device for implementing the carrier phase polarity determination method as described in any one of claims 1 to 4, characterized in that, include: The determination module is used to determine the polarity of the frequency point of the satellite signal, and if the polarity of the frequency point is invalid, determine whether the frequency point is for stable tracking. The cycle slip module is used to determine whether a cycle slip occurs at the frequency point when the frequency point is being tracked stably. The modification module is used to modify the polarity of the frequency point to be valid when no cycle slip occurs at the frequency point.

6. A chip, characterized in that, include: A memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program in the memory; when executed by the processor, the computer program implements the carrier phase polarity determination method as described in any one of claims 1 to 4.

7. An electronic device, characterized in that, Includes the carrier phase polarity determination device as described in claim 5, or the chip as described in claim 6.

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