A positioning error processing method and apparatus

Abstract

The application provides a positioning error processing method and device, and belongs to the technical field of communication.The application performs signal-to-noise ratio weighting on wide-lane ambiguity of an original observation value, obtains a target observation value by using an MW combined cycle slip detection method, then performs first inter-epoch difference on the carrier phase observation value, performs second inter-epoch difference to obtain a second inter-epoch result, detects cycle slip of the target observation value based on the second inter-epoch result, performs cycle slip repair, and completes positioning error processing.Therefore, the combination of the MW combined cycle slip detection method based on signal-to-noise ratio weighting and the GF combined cycle slip detection method based on second inter-epoch difference can overcome the shortcoming that a single combination cannot completely detect possible cycle slip, and has the characteristics of high detection efficiency and strong flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a positioning error processing method and device. BACKGROUND

[0002] In the existing 5G carrier phase observation cycle slip detection and repair technology, the epoch high-order difference method is mainly limited by the stability of the receiver clock, the difficulty of continuous cycle slip detection, and can only detect and repair large cycle slips; the standard deviation of the polynomial fitting method will decrease rapidly with the increase of the order, resulting in inaccurate cycle slip detection; at the same time, the TurboEdit algorithm also has some shortcomings: first, the pseudo-range noise is large in complex observation environment, and it is difficult for MW combination to detect small cycle slips of 1-3 weeks in such environment; second, there is insensitive cycle slip; third, if the ionospheric change is large in the observation environment, it has a great influence on the GF combination. SUMMARY

[0003] The present application provides a positioning error processing method and device, which is used to solve the defects of the prior art, realizes the joint MW combination cycle slip detection method based on signal-to-noise ratio weighting and GF combination cycle slip detection method based on second epoch difference, can overcome the shortcomings that single combination cannot completely detect the possible cycle slip, and has the characteristics of high detection efficiency and strong flexibility.

[0004] In the first aspect, the present application provides a positioning error processing method, which comprises:

[0005] Obtaining original observation values; the original observation values include carrier phase observation values, frequency observation values and pseudo-range observation values;

[0006] Obtaining the wide-lane ambiguity of the original observation values, performing signal-to-noise ratio weighting and using the MW combination cycle slip detection method to obtain target observation values;

[0007] Performing first epoch difference on the carrier phase observation values and then performing second epoch difference to obtain second epoch difference results;

[0008] Based on the second epoch difference results, the target observation values are detected for cycle slip, and the cycle slip is repaired to complete the positioning error processing.

[0009] According to the positioning error processing method, the specific way of obtaining the original observation values is:

[0010]

[0011] Wherein, P i is the pseudo-range observation value corresponding to the i frequency, L i is the carrier phase observation value corresponding to the i frequency, k 1i is the frequency f iThe ionospheric delay amplification factor relative to frequency f1, where D is the tropospheric delay, I is the ionospheric delay, and λ is the ionospheric delay factor. i For the wavelength corresponding to frequency i, N i For integer ambiguity corresponding to frequency i, ε i e represents the pseudorange error corresponding to frequency i. i This represents the carrier phase error corresponding to frequency i.

[0012] According to the positioning error processing method described above, the specific method for weighting the signal-to-noise ratio of the wide-lane ambiguity of the original observations is as follows:

[0013]

[0014] in, N represents the average value of the wide-lane ambiguity corresponding to frequency i, which is also the target observation value. WL For the ambiguity of the wide alley, denoted as mean square error, and w(j) is the signal-to-noise ratio weighting coefficient.

[0015] According to the positioning error processing method described above, the signal-to-noise ratio weighting coefficient is specifically as follows:

[0016] w(j) = w1(j) + w1(j);

[0017] in,

[0018]

[0019] w k (j) represents the frequency f k The weighting coefficients of the signal, S k For frequency f k Signal-to-noise ratio.

[0020] According to the positioning error processing method, the step of performing a second epoch difference on the carrier phase observation value to obtain the first detection quantity includes:

[0021] The specific steps for performing an inter-epoch difference on the carrier phase observations are as follows:

[0022]

[0023] Where, ΔL GF (i) represents the first interepoch result for frequency i, λ1 represents the wavelength of frequency 1, λ2 represents the wavelength of frequency 2, ΔN1 represents the wide-lane ambiguity of frequency 1, and ΔN2 represents the wide-lane ambiguity of frequency 2.

[0024] The specific method for performing a quadratic interepochal difference on the above equation is as follows:

[0025]

[0026] wherein, is the second inter-epoch result corresponding to the i frequency.

[0027] According to the positioning error processing method, the step of detecting cycle slip of the target observation value based on the second inter-epoch result and repairing the cycle slip comprises:

[0028] determining a detection quantity according to the second inter-epoch result and the target observation value;

[0029] determining whether the detection quantity is greater than a preset threshold, if yes, marking that cycle slip occurs in the corresponding epoch and repairing, otherwise, not marking that cycle slip occurs in the corresponding epoch;

[0030] wherein, the specific way of determining the detection quantity is:

[0031]

[0032] wherein, ΔN WL is a first-difference wide-lane ambiguity result, and D is the detection quantity.

[0033] According to the positioning error processing method, the step of detecting cycle slip of the target observation value based on the second inter-epoch result and repairing the cycle slip further comprises:

[0034] determining an adaptive elevation angle weighting factor;

[0035] determining whether the second inter-epoch result is greater than the elevation angle weighting factor, if yes, marking that cycle slip occurs in the corresponding epoch and repairing, otherwise, not marking that cycle slip occurs in the corresponding epoch;

[0036] the specific determination way of determining the adaptive elevation angle weighting factor is:

[0037]

[0038] wherein, k is the adaptive elevation angle weighting factor; E is an elevation angle selected according to actual conditions, in a dynamic environment, if the observation elevation angle is less than 30°, it is the same as in a static state, if the observation angle is greater than 30°, k is determined to be 1; e is an observation elevation angle of a current epoch, generally taken as 15°.

[0039] In a second aspect, the present application further provides a positioning error processing device, the device comprising:

[0040] an observation value acquisition module, configured to acquire original observation values; wherein the original observation values comprise carrier phase observation values, frequency observation values and pseudo-range observation values;

[0041] The first processing module is configured to obtain wide-lane ambiguity of original observation values, perform signal-to-noise ratio weighting, and obtain target observation values by using MW combination cycle slip detection method.

[0042] The second processing module is configured to perform first epoch difference on the carrier phase observation values, perform second epoch difference to obtain second epoch difference results.

[0043] The cycle slip repair module is configured to perform cycle slip detection on the target observation values based on the second epoch difference results, and perform cycle slip repair to complete positioning error processing.

[0044] In a third aspect, the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the positioning error processing method according to any one of the above aspects when executing the program.

[0045] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program implements the steps of the positioning error processing method according to any one of the above aspects when executed by a processor.

[0046] The positioning error processing method provided by the present application has the following technical effects:

[0047] (1) The present application obtains target observation values by obtaining wide-lane ambiguity of original observation values, performing signal-to-noise ratio weighting, and using MW combination cycle slip detection method, then performs first epoch difference on the carrier phase observation values, performs second epoch difference to obtain second epoch difference results, and then performs cycle slip detection on the target observation values based on the second epoch difference results, and performs cycle slip repair to complete positioning error processing. Therefore, the combination of the MW combination cycle slip detection method based on signal-to-noise ratio weighting and the GF combination cycle slip detection method based on second epoch difference can overcome the shortcoming that a single combination cannot completely detect possible cycle slips, and has the characteristics of high detection efficiency and strong flexibility.

[0048] (2) The adaptive elevation angle weighting factor model defined by the cycle slip detection based on the second epoch difference results on the target observation values and the cycle slip repair is not only suitable for static observation environment, but also suitable for dynamic environment, especially for 5G base stations with low cut-off elevation angle. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0050] Figure 1 is one of the flowcharts of the positioning error processing method provided by the present application;

[0051] Figure 2 is another flowchart of the positioning error processing method provided by the present application;

[0052] Figure 3 is a structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0054] It should be noted that, in the description of the embodiments of the present application, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0055] With the progress of science and technology, navigation technology is also constantly innovating. However, there are many limitations of 5G positioning system that cannot be ignored, often affected by signal interference, terrain obstruction and multipath effect, etc., especially in complex environments such as urban canyons, various observation value errors accumulate to affect the positioning accuracy, which cannot meet people's positioning needs in complex scenarios. Therefore, a 5G positioning error processing method and system are needed to weaken the errors in the observation values as much as possible to improve the reliability of positioning.

[0056] Obstruction of obstacles will cause signal interruption, too low signal-to-noise ratio of 5G signal, failure of receiver or 5G base station, etc., which will cause errors in the cycle count of carrier phase observation. Commonly used single-frequency cycle slip detection and repair methods include epoch high-order difference method, three-difference observation value baseline back substitution method, polynomial fitting method, cycle slip detection method based on virtual observation equation, etc. Commonly used double-frequency cycle slip detection and repair methods include MW combination, GF combination, Turbo Edit algorithm, etc.

[0057] In complex environments such as cities and canyons, the occurrence of 5G carrier phase observation cycle slip is inevitable, which will introduce an integer number of cycle deviation of the same size in all subsequent carrier phase observations from the epoch when the cycle slip occurs. The detection and repair of cycle slip is to detect when the cycle slip occurs and calculate the missing integer number of cycles. The integer number of cycles after interruption is corrected and restored to the correct count, so that this part of the observation value can still be used.

[0058] The MW combination is obtained by subtracting the narrow lane combination of the pseudo-range from the wide lane combination of the carrier phase of the current epoch; the GF combination is obtained by combining the double-frequency carrier phase into a geometry-free distance combination; the Turbo Edit algorithm combines two combinations that can complement each other's shortcomings, which are the MW combination and the GF combination, and is one of the most commonly used double-frequency non-difference cycle slip processing methods.

[0059] However, the current inter-epoch high-order difference method is mainly limited by the stability of the receiver clock, the difficulty of continuous cycle slip detection, and can only detect and repair large cycle slips. However, the standard deviation of the polynomial fitting method decreases rapidly with the increase of the order, resulting in inaccurate cycle slip detection. At the same time, the Turbo Edit algorithm also has some shortcomings: first, the pseudo-range noise is large in complex observation environments, and it is difficult to detect small cycle slips of 1-3 cycles in such environments; second, there is an insensitive cycle slip; third, if the ionospheric variation is large in the observation environment, it has a great influence on the GF combination.

[0060] Therefore, the present application aims to study the positioning error processing of 5G, and proposes a positioning error processing method and device to solve the cycle slip detection and repair, so as to effectively solve the positioning error processing of 5G.

[0061] The following will be described with the method applied to a 5G base station as an example. Figures 1-3 The positioning error processing method and device provided by the embodiments of the present application will be described.

[0062] Figure 1 is one of the flowcharts of the positioning error processing method provided by the present application, as shown in Figure 1 includes but is not limited to the following steps:

[0063] Step 101, obtaining the original observation value; the original observation value includes carrier phase observation value, frequency observation value and pseudo-range observation value.

[0064] In the 5G system, the original observation value can be obtained by using, for example, the following method:

[0065]

[0066] Wherein, P i is the pseudo-range observation value corresponding to the i frequency, L i is the carrier phase observation value corresponding to the i frequency, k1i For frequency f i The ionospheric delay amplification factor relative to frequency f1, where D is the tropospheric delay, I is the ionospheric delay, and λ is the ionospheric delay factor. i For the wavelength corresponding to frequency i, N i For integer ambiguity corresponding to frequency i, ε i e represents the pseudorange error corresponding to frequency i. i This represents the carrier phase error corresponding to frequency i.

[0067] Step 102: Obtain the wide aisle ambiguity of the original observations, perform signal-to-noise ratio weighting, and use the MW combined cycle slip detection method to obtain the target observations.

[0068] In 5G communication systems, there are system deviations between different base stations, so this deviation can be reduced by using signal-to-noise ratio weighting.

[0069] Specifically, the method for weighting the signal-to-noise ratio based on the wide-lane ambiguity of the original observations is as follows:

[0070]

[0071] in, N represents the average value of the wide-lane ambiguity corresponding to frequency i, which is also the target observation value. WL For the ambiguity of the wide alley, denoted as mean square error, and w(j) is the signal-to-noise ratio weighting coefficient.

[0072] In a preferred embodiment, the signal-to-noise ratio weighting coefficient is specifically:

[0073] w(j) = w1(j) + w2(j);

[0074] in,

[0075]

[0076] w k (j) represents the frequency f k The weighting coefficients of the signal, S k For frequency f k Signal-to-noise ratio.

[0077] Step 103: Perform a first epoch-time difference on the carrier phase observation value and then a second epoch-time difference to obtain the second epoch-time result.

[0078] In a preferred embodiment, performing an inter-epoch difference on the carrier phase observations specifically involves:

[0079]

[0080] Where, ΔLGF (i) is the first epoch difference result corresponding to i frequency, λ1 is the wavelength corresponding to frequency 1, λ2 is the wavelength corresponding to frequency 2, ΔN1 is the wide lane ambiguity corresponding to frequency 1, and ΔN2 is the wide lane ambiguity corresponding to frequency 2;

[0081] In order to eliminate the defect that the first epoch difference is not enough to detect the cycle slip when the ionosphere changes sharply, the above formula is subjected to second epoch difference, specifically as follows:

[0082]

[0083] wherein, is the second epoch difference result corresponding to i frequency.

[0084] Step 104, detecting the cycle slip of the target observation value based on the second epoch difference result, and repairing the cycle slip to complete the positioning error processing.

[0085] Determining a detection quantity according to the second epoch difference result and the target observation value;

[0086] Determining whether the detection quantity is greater than a preset threshold value, if yes, marking that the corresponding epoch has a cycle slip and repairing, otherwise, not marking that the corresponding epoch has a cycle slip;

[0087] Wherein, combining the two kinds of combinations can weaken and eliminate the defects of each kind of combination itself, and the specific way of determining the detection quantity is as follows:

[0088]

[0089] The detection quantity D is as follows:

[0090]

[0091] Wherein, ΔN WL is the first difference wide lane ambiguity result, and D is the detection quantity.

[0092] In a preferred embodiment, when the absolute value of D is greater than 4k, it is considered that the epoch has a cycle slip, the cycle slip true value is searched and repaired.

[0093] Figure 2 is the second flowchart of the positioning error processing method provided by the application, as shown in Figure 2 Based on the content of the above embodiment, as an optional embodiment, the positioning error processing method provided by the application further includes the following steps in the step of detecting the cycle slip of the target observation value based on the second epoch difference result and repairing the cycle slip:

[0094] Determining an adaptive elevation angle weighting factor;

[0095] determining whether the second interepoch result is greater than the elevation angle weighting factor, and if yes, marking the corresponding epoch as a cycle slip occurrence and performing repair, otherwise not marking the corresponding epoch as a cycle slip occurrence;

[0096] The specific determination manner of the adaptive elevation angle weighting factor is:

[0097]

[0098] wherein k is the adaptive elevation angle weighting factor, E is an elevation angle selected according to actual conditions, in a dynamic environment, if the observation elevation angle is less than 30°, k is determined as 1, and if the observation angle is greater than 30°, k is determined as 1, and e is the observation elevation angle of the current epoch, generally taken as 15°.

[0099] In summary, the positioning error processing method provided by the application has the following technical effects:

[0100] In a complex positioning environment, when a lower 5G base station cutoff elevation angle cannot meet the demand of high-quality observation values, the traditional cycle slip detection and fixed method cannot more accurately detect various cycle slips, and the application can realize accurate detection of various cycle slips, and effectively reduce the observation error in a complex scene.

[0101] On the other hand, the application also provides a positioning error processing device, the device comprises:

[0102] An observation value acquisition module is configured to acquire original observation values, wherein the original observation values include carrier phase observation values, frequency observation values and pseudo-range observation values;

[0103] A first processing module is configured to acquire wide-lane ambiguities of the original observation values, perform signal-to-noise ratio weighting, and obtain target observation values by using an MW combined cycle slip detection method;

[0104] A second processing module is configured to perform first interepoch differencing on the carrier phase observation values, perform second interepoch differencing to obtain a second interepoch result;

[0105] A cycle slip repair module is configured to perform cycle slip detection on the target observation values based on the second interepoch result, and perform cycle slip repair to complete positioning error processing.

[0106] It should be noted that the RSMA precoding and rate joint optimization device provided by the embodiments of the application can execute the RSMA precoding and rate joint optimization method of any one of the above-mentioned embodiments in specific operation, and the embodiments of the application will not be repeated here.

[0107] Figure 3 is a structural schematic diagram of an electronic device provided by the application, like Figure 3As shown, the electronic device can include a processor 310, a communications interface 320, a memory 330, and a communications bus 340, wherein the processor 310, the communications interface 320, and the memory 330 complete mutual communication through the communications bus 340. The processor 310 can invoke a logical instruction in the memory 330 to execute a positioning error processing method, which includes: obtaining original observation values; the original observation values include carrier phase observation values, frequency observation values, and pseudo-range observation values; obtaining wide-lane ambiguity of the original observation values, performing signal-to-noise ratio weighting, and using an MW combined cycle slip detection method to obtain target observation values; performing first epoch difference on the carrier phase observation values, then performing second epoch difference to obtain a second epoch result; based on the second epoch result, performing cycle slip detection on the target observation values, and performing cycle slip repair to complete positioning error processing.

[0108] In addition, the logical instruction in the memory 330 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or parts of the present application that essentially contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0109] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, and the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the positioning error processing method provided by each of the above embodiments, which includes: obtaining original observation values; the original observation values include carrier phase observation values, frequency observation values, and pseudo-range observation values; obtaining wide-lane ambiguity of the original observation values, performing signal-to-noise ratio weighting, and using an MW combined cycle slip detection method to obtain target observation values; performing first epoch difference on the carrier phase observation values, then performing second epoch difference to obtain a second epoch result; based on the second epoch result, performing cycle slip detection on the target observation values, and performing cycle slip repair to complete positioning error processing.

[0110] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning error processing method provided by any of the above embodiments, the method comprising: obtaining original observations; the original observations comprising carrier phase observations, frequency observations and pseudo-range observations; obtaining wide-lane ambiguities of the original observations, performing signal-to-noise ratio weighting and using a MW combination cycle slip detection method to obtain target observations; performing first epoch difference on the carrier phase observations, and then performing second epoch difference to obtain a second epoch difference result; performing cycle slip detection on the target observations based on the second epoch difference result, and performing cycle slip repair to complete the positioning error processing.

[0111] The above-described apparatus embodiments are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0112] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0113] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning error processing method characterized by, The method comprises: obtaining original observation values; the original observation values comprise carrier phase observation values, frequency observation values and pseudo-range observation values; obtaining wide-lane ambiguity of the original observation values for signal-to-noise ratio weighting and using MW combination cycle slip detection method to obtain target observation values; the specific way of obtaining the wide-lane ambiguity of the original observation values for signal-to-noise ratio weighting is: wherein, N is the average of the wide-lane ambiguities corresponding to the i frequency, i.e. the target observations, WL N is the wide-lane ambiguity, is the mean square error, and w(j) is a signal-to-noise ratio weighting factor. performing first epoch difference on the carrier phase observation values and then performing second epoch difference to obtain second epoch difference results; based on the second epoch difference results, performing cycle slip detection on the target observation values and performing cycle slip repair to complete positioning error processing.

2. The positioning error processing method of claim 1, wherein, The specific way of obtaining the original observation values is: where P i is the pseudo-range observation value corresponding to the i frequency, L i is the carrier phase observation value corresponding to the i frequency, k 1i is the frequency f i is the ionospheric delay amplification coefficient relative to the frequency f1, D is the tropospheric delay, I is the ionospheric delay, λ i is the wavelength corresponding to the i frequency, N i is the integer ambiguity corresponding to the i frequency, ε i is the pseudo-range error corresponding to the i frequency, e i is the carrier phase error corresponding to the i frequency.

3. The positioning error processing method of claim 1, wherein, The signal-to-noise ratio weighting coefficient is specifically: w(j) = w1(j) + w2(j); wherein, w K (j) is the frequency f K weighting factor for the signal S K is the frequency f K signal-to-noise ratio of the signal.

4. The positioning error processing method of claim 1, wherein, The step of obtaining first detection quantity by performing first epoch difference on the carrier phase observation values and then performing second epoch difference comprises: performing first epoch difference on the carrier phase observation values is specifically: where ΔL GF (i) is the first epoch result for frequency i, λ1is the wavelength for frequency 1, λ2is the wavelength for frequency 2, ΔN1is the wide-lane ambiguity for frequency 1, and ΔN2is the wide-lane ambiguity for frequency 2. performing second epoch difference on the above formula is specifically: wherein, is the second interepoch result for the i frequency.

5. The positioning error processing method of claim 4, wherein, The step of performing cycle slip detection on the target observation values based on the second epoch difference results and performing cycle slip repair comprises: determining detection quantity according to the second epoch difference results and the target observation values; determining whether the detection quantity is greater than a preset threshold, if yes, marking that cycle slip occurs in the corresponding epoch and performing repair, otherwise, not marking that cycle slip occurs in the corresponding epoch; The specific way of determining the detection quantity is: where ΔN WL is the first difference wide-lane ambiguity result and D is the detection quantity.

6. The positioning error processing method of claim 5, wherein, The step of performing cycle slip detection on the target observation values based on the second epoch difference results and performing cycle slip repair further comprises steps of: determining an adaptive elevation angle weighting factor; determining whether the second epoch difference results are greater than the elevation angle weighting factor, if yes, marking that cycle slip occurs in the corresponding epoch and performing repair, otherwise, not marking that cycle slip occurs in the corresponding epoch; The specific determination way of determining the adaptive elevation angle weighting factor is: wherein, k is the adaptive elevation angle weighting factor; E is an elevation angle selected according to actual conditions, in a dynamic environment, if the observation elevation angle is less than 30°, it is the same as in a static state, if the observation angle is greater than 30°, k is determined as 1; e is the observation elevation angle of the current epoch, generally taken as 15°.

7. A positioning error processing apparatus characterized by comprising: The device comprises: an observation value obtaining module configured to obtain original observation values; wherein the original observation values comprise carrier phase observation values, frequency observation values and pseudo-range observation values; a first processing module configured to obtain wide-lane ambiguity of the original observation values for signal-to-noise ratio weighting and using MW combination cycle slip detection method to obtain target observation values; the specific way of obtaining the wide-lane ambiguity of the original observation values for signal-to-noise ratio weighting is: wherein, N is the average of the wide-lane ambiguities corresponding to the i frequency, i.e. the target observations, WL N is the wide-lane ambiguity, is the mean square error, and w(j) is the signal-to-noise ratio weighting factor. a second processing module configured to perform first epoch difference on the carrier phase observation values and then perform second epoch difference to obtain second epoch difference results; a cycle slip repair module configured to perform cycle slip detection on the target observation values based on the second epoch difference results and perform cycle slip repair to complete positioning error processing.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor realizes the steps of the positioning error processing method according to any one of claims 1 to 6 when executing the computer program. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, which is executed by a processor, implements the steps of the positioning error processing method according to any one of claims 1 to 6.

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