Cycle slip detection method and device, equipment, storage medium and program product

Abstract

The invention provides a cycle slip detection method and device, equipment, a storage medium and a program product. The invention relates to the technical field of satellite navigation. In some embodiments of the invention, large cycle slip detection and repair are performed according to a pseudo-range and carrier phase combination value to obtain a large cycle slip detection result; a carrier phase observation value is influenced by clock jump, a Doppler observation value is not influenced by clock jump, and clock jump detection and repair are carried out by using a Doppler observation value and a carrier phase combination value, so that the accuracy of clock jump detection is improved; cycle slip detection is carried out by adopting a GF combination, a high-order difference method and a polynomial fitting method, a target cycle slip detection result is obtained, and the accuracy of cycle slip detection is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite navigation technology, and in particular to a cycle slip detection method, device, equipment, storage medium and program product. Background Art

[0002] When performing GNSS high-precision positioning, smart terminals need to obtain the original GNSS observation information such as terminal pseudorange, carrier, Doppler, signal-to-noise ratio, etc. In the research on GNSS data quality analysis in smart terminals, there are more studies on signal-to-noise ratio, pseudorange residual, carrier phase residual, etc., but there are fewer studies on the cycle slip of the original GNSS observation value of smart terminals.

[0003] At present, the detection accuracy of cycle slips of raw GNSS observation values ​​of smart terminals is low. Summary of the invention

[0004] The present disclosure provides a cycle slip detection method to at least solve the problem of low cycle slip detection accuracy of original observation values ​​of GNSS of existing smart terminals.

[0005] The technical solution of the present disclosure is as follows:

[0006] The present disclosure provides a cycle slip detection method, including:

[0007] Large cycle slip detection and repair are performed according to the combined value of pseudorange and carrier phase to obtain large cycle slip detection results;

[0008] When the large cycle slip detection result is repaired, clock slip detection and repair are performed according to the Doppler observation value and the carrier phase combination value to obtain a repaired pseudorange and a repaired carrier phase observation value;

[0009] According to the repaired pseudorange and the repaired carrier phase observation value, a generating function method, a high-order difference method and a polynomial fitting method are used to jointly perform cycle slip detection to obtain a cycle slip detection result.

[0010] Optionally, after performing clock jump detection according to the Doppler observation value and the carrier phase combination value, the method further includes:

[0011] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be a clock jump occurrence;

[0012] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be that no clock jump occurs.

[0013] Optionally, the step of performing cycle slip detection based on the repaired pseudorange and the repaired carrier phase observation value by using a generating function method, a high-order difference method and a polynomial fitting method to obtain a cycle slip detection result includes:

[0014] The generating function method is used to detect cycle slips for dual-frequency phase values, and the high-order difference method is used to detect cycle slips for single-frequency phase values ​​to obtain initial cycle slip detection results;

[0015] According to the initial cycle slip detection result, the polynomial fitting method is used to perform cycle slip detection to obtain the target cycle slip detection result.

[0016] Optionally, performing cycle slip detection using the polynomial fitting method according to the initial cycle slip detection result to obtain the target cycle slip detection result includes:

[0017] Performing polynomial fitting according to a plurality of carrier phase values ​​without cycle slips to obtain a fitting polynomial;

[0018] Obtaining the predicted phase difference value of the future epoch according to the fitting polynomial;

[0019] The target cycle slip detection result is determined according to the magnitude relationship between the target difference value and the set difference threshold, wherein the target difference value is the difference between the predicted phase difference value and the actual phase difference value.

[0020] Optionally, after determining that the target cycle slip detection result is that a cycle slip exists in a future epoch value, the method further includes:

[0021] Determine the relationship between the error in the fitting residual and the error threshold;

[0022] If the error in the fitting residual is greater than the error threshold, there is a half-cycle slip in the future epoch value;

[0023] If the error in the fitting residual is less than or equal to the error threshold, there is a whole cycle slip in the future epoch value.

[0024] The present disclosure also provides a cycle slip detection device, including:

[0025] The first detection module is used to detect and repair large cycle slips according to the combined value of pseudorange and carrier phase to obtain large cycle slip detection results;

[0026] The second detection module is used to perform clock jump detection and repair according to the Doppler observation value and the carrier phase combination value when the large cycle slip detection result is repaired, so as to obtain a repaired pseudorange and a repaired carrier phase observation value;

[0027] The third detection module uses a generating function method, a high-order difference method and a polynomial fitting method to perform cycle slip detection based on the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result.

[0028] The present disclosure also provides an electronic device, including:

[0029] processor;

[0030] a memory for storing instructions executable by the processor;

[0031] The processor is configured to execute the instructions to implement the steps in the above method.

[0032] The embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented.

[0033] The embodiments of the present disclosure also provide a computer program product, including a computer program / instruction, which implements the above method when executed by a processor.

[0034] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0035] In some embodiments of the present disclosure, large cycle slip detection and repair are performed based on the combined value of pseudorange and carrier phase to obtain large cycle slip detection results; the carrier phase observation value is affected by clock slips, while the Doppler observation value is not affected by clock slips, and clock slip detection and repair are performed using the combined value of Doppler observations and carrier phase to improve the accuracy of clock slip detection; the GF combination, high-order difference method and polynomial fitting method are used to perform cycle slip detection to obtain target cycle slip detection results, thereby improving the accuracy of cycle slip detection.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0038] Figure 1 A flow chart of a cycle slip detection method provided for an exemplary embodiment of the present disclosure;

[0039] Figure 2 A flowchart of another cycle slip detection method provided for an exemplary embodiment of the present disclosure;

[0040] Figure 3 A schematic diagram of a GF combination sequence provided for an exemplary embodiment of the present disclosure;

[0041] Figure 4 A schematic diagram of an L1 carrier phase observation value sequence provided for an exemplary embodiment of the present disclosure;

[0042] Figure 5 A schematic structural diagram of a cycle slip detection device provided for an exemplary embodiment of the present disclosure;

[0043] Figure 6 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0046] It should be noted that the user information involved in this disclosure includes but is not limited to: user device information and user personal information; the collection, storage, use, processing, transmission, provision and disclosure of user information in this disclosure comply with the relevant laws and regulations and do not violate public order and good morals.

[0047] At present, there are several methods for cycle slip detection of intelligent terminals:

[0048] The Doppler difference method is used to set the threshold for detecting cycle slips for single-frequency phase values, but this method is affected by the accuracy of Doppler observation values ​​and is prone to misjudging clock slips as cycle slips. The ionospheric residual method is used to detect cycle slips for dual-frequency phase values, but the disadvantage of this method is that it cannot determine sensitive cycle slip pairs and cycle slip values ​​of the same size on two frequencies. In addition, the carrier phase tracking status indication parameters, Doppler difference method and phase epoch difference method provided in the Android API are used to detect cycle slips, but this method has a weak ability to resist gross errors.

[0049] In response to the above technical problems, in some embodiments of the present disclosure, large cycle slip detection and repair are performed based on the combination value of pseudorange and carrier phase to obtain large cycle slip detection results; the carrier phase observation value is affected by clock slips, while the Doppler observation value is not affected by clock slips, and clock slip detection and repair are performed using the combination value of Doppler observation value and carrier phase to improve the accuracy of clock slip detection; the GF combination, high-order difference method and polynomial fitting method are used to perform cycle slip detection to obtain target cycle slip detection results, thereby improving the accuracy of cycle slip detection.

[0050] The technical solutions provided by various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0051] Figure 1 A flow chart of a cycle slip detection method provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0052] S101: performing large cycle slip detection and repair according to the pseudorange and carrier phase combination value to obtain a large cycle slip detection result;

[0053] S102: When the large cycle slip detection result is repaired, clock slip detection and repair are performed according to the Doppler observation value and the carrier phase combination value to obtain a repaired pseudorange and a repaired carrier phase observation value;

[0054] S103: According to the repaired pseudorange and the repaired carrier phase observation value, a generating function method, a high-order difference method and a polynomial fitting method are used to perform cycle slip detection to obtain a cycle slip detection result.

[0055] In this embodiment, the execution subject of the above method may be a server or a terminal device.

[0056] When the execution subject of the above method is a terminal device, the terminal device includes but is not limited to any one of the following: a mobile phone, a tablet computer, a smart speaker, a drone and a smart vehicle.

[0057] When the execution subject of the above method is a server, the implementation form of the server is not limited. For example, the server can be a conventional server, a cloud server, a cloud host, a virtual center, and other server devices. Among them, the composition of the server mainly includes a processor, a hard disk, a memory, a system bus, etc., and a general computer architecture type.

[0058] In this embodiment, in view of the frequent clock jumps in the original observation values ​​of the GNSS of the smart terminal and the instability of the dual-frequency signal caused by the single-frequency observation values ​​being more than the dual-frequency observation values, a cycle slip detection method that simultaneously considers clock jumps and single-frequency and dual-frequency observation values ​​is proposed. The characteristic that the clock jump values ​​of the carrier phase and the pseudorange observation values ​​are consistent in the same epoch is proposed, and a combination of pseudorange and carrier is proposed to detect large cycle slips.

[0059] In some embodiments of the present disclosure, the pseudorange and carrier observation equations are as follows:

[0060] P=ρ+c(dt R -dt S )+T+I+ε p

[0061] L=ρ+c(dt R -dt S )+T-I+λN+ε φ

[0062] Where P is the pseudorange observation value, L is the carrier phase observation value (L = λφ), dt R is the receiver clock error, dt S is the satellite clock error, T is the tropospheric delay, I is the ionospheric delay, ε p is the pseudorange observation noise, ε φ is the carrier phase observation noise; in an open environment, the multipath error can be ignored; λ is the wavelength, and N is the phase ambiguity.

[0063] Subtracting the pseudorange and carrier observation equations, we get the following formula:

[0064] PL=2I+ε ρ -λN

[0065] Since the pseudorange noise is much larger than the carrier noise, ε φ It can be ignored. In addition, if a clock jump occurs, the clock jump will have no effect in this formula because the clock jump has the same effect on the carrier phase and pseudorange observations. Subtract the above formula between epochs to obtain the following formula:

[0066]

[0067] is a single difference factor; the ionosphere has a strong correlation with time t, so If no cycle slip occurs, then On the contrary, if a cycle slip occurs, then at the cycle slip epoch is not 0. The pseudorange noise level ε ρ Within a few meters, the detection quantity can only detect large cycle slips. Therefore, the large cycle slip detection quantity is:

[0068] In some embodiments of the present disclosure, large cycle slip detection and repair are performed based on the combined value of pseudorange and carrier phase to obtain a large cycle slip detection result. One achievable method is that when the noise of the pseudorange observation value is greater than the large cycle slip threshold, the large cycle slip detection result is determined to be that a large cycle slip has occurred; when the noise of the pseudorange observation value is less than or equal to the large cycle slip threshold, the large cycle slip detection result is determined to be that no large cycle slip has occurred. It should be noted that the embodiments of the present disclosure do not limit the large cycle slip threshold, and the large cycle slip threshold can be adjusted according to actual conditions. In the absence of large cycle slips, the detection amount is only affected by the pseudorange noise, and its value has a certain regularity. If a large cycle slip occurs, there is an obvious mutation in the detection amount at a certain epoch. According to experience, the large cycle slip threshold is set to 10. If it exceeds the threshold, it is marked as J. i When the large cycle slip detection result is repaired, clock slip detection and repair are performed based on the Doppler observation value and the carrier phase combination value to obtain the repaired pseudorange and the repaired carrier phase observation value. When repairing large cycle slips, the influence of pseudorange residual is taken into account. Therefore, the large cycle slip repair formula is:

[0069]

[0070] in, is the carrier phase repair value, and σ is the detection error when no cycle slip occurs.

[0071] Considering the characteristic that when the carrier phase clock jumps, the Doppler observation value does not clock jump, the embodiment of the present disclosure determines the clock jump detection value according to the carrier phase repair value and the Doppler observation value, wherein the clock jump detection measurement formula is as follows:

[0072]

[0073] Where i is the observation epoch, φ i Carrier phase observation, D i is the Doppler observation value, f is the frequency, and T is the sampling interval.

[0074] In some embodiments of the present disclosure, clock jump detection and repair are performed based on Doppler observation values ​​and carrier phase combination values ​​to obtain a repaired pseudorange and a repaired carrier phase observation value. The carrier phase observation value is affected by clock jumps, while the Doppler observation value is not affected by clock jumps. Based on the carrier phase combination value and the Doppler observation value, the clock jump detection measurement is determined to improve the accuracy of clock jump detection.

[0075] In this embodiment, the clock jump detection measurement eliminates the error terms such as ionospheric error, tropospheric error, clock error, etc. that are strongly correlated with time, and is only affected by clock jumps, observation noise and small cycle jumps. After calculating the clock jump detection measurement, the set detection measurement threshold is used to determine whether a clock jump has occurred. In the absence of clock jumps and small cycle jumps, the detection measurement is only affected by observation noise, and its value is small. If a clock jump occurs, the detection measurement is no longer continuous in value and has an obvious mutation. Among them, one way of clock jump detection is that when the clock jump detection measurement is greater than the clock jump threshold, the clock jump detection result is determined to be that a clock jump has occurred; when the clock jump detection measurement is greater than the clock jump threshold, the clock jump detection result is determined to be that no clock jump has occurred.

[0076] It should be noted that the commonly used methods for detecting cycle slips are: polynomial fitting method, high-order difference method, generating function method, MW combination method, and Doppler integration method. The polynomial fitting method and the high-order difference method are essentially the same, and both methods will fail in cycle slip detection when the ionosphere changes drastically; the generating function method is a method without geometric distance, and its limitation is that it cannot detect cycle slip sensitive pairs and cycle slips of the same size occurring on two frequencies; the MW combination method is applicable to dual-frequency observations, and its disadvantage is that it cannot correctly determine the frequency band where the cycle slip occurs; the Doppler integration method will be affected by the satellite and receiver clock errors. Each detection method has its own advantages and disadvantages. The present invention combines multiple methods to detect cycle slips and improves the accuracy of cycle slip detection.

[0077] Figure 2 A flow chart of another cycle slip detection method provided by an exemplary embodiment of the present disclosure. Figure 2 , the code-subtraction carrier combination is used to detect and repair large cycle slips, avoiding the influence of large cycle slips on clock slip detection; then the Doppler observation value and carrier phase combination are used to detect and repair clock slips, so as to detect cycle slips of reference satellites. The generating function method is used to detect cycle slips for dual-frequency phase values, and the fourth difference (three differences between phase epochs after one difference between satellites) is used to detect cycle slips for single-frequency phase values. Both methods can eliminate the influence of smart terminal clock slips and clock errors on cycle slip detection, and weaken the influence of observation noise, multipath and other errors on cycle slip detection. For sensitive cycle slips that cannot be detected by the generating function method or cycle slips of the same size on two frequencies, the single-frequency phase value detection method is used to judge. The limitations of the fourth difference are that, first, it is impossible to determine which satellite has a cycle slip; second, continuous cycle slips cannot be detected; third, it does not distinguish between reference satellites and non-reference satellites that have the same size of cycle slips. In view of the shortcomings of the fourth difference, the polynomial fitting method is used to judge the cycle slip mark of the fourth difference and the cycle slip mark of the reference satellite triple difference.

[0078] In the above embodiment, cycle slip detection is performed together using the generating function method, the high-order difference method and the polynomial fitting method according to the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result. One achievable method is to use the generating function method to detect cycle slips for the dual-frequency phase value and the fourth-order difference method to detect cycle slips for the single-frequency phase value to obtain an initial cycle slip detection result; based on the initial cycle slip detection result, the polynomial fitting method is used to perform cycle slip detection to obtain a target cycle slip detection result.

[0079] The polynomial fitting in this paper will distinguish between full-cycle and half-cycle cycle jumps. After the cycle jump is repaired according to the traditional method, the mean error of the fitting residual is recalculated, and the error threshold is set to determine whether there is a half-cycle cycle jump. If it exceeds the error threshold, there is a half-cycle cycle jump. If it does not exceed the error threshold, it is a full-cycle cycle jump. One possible way to achieve this is to determine the relationship between the mean error of the fitting residual and the error threshold; if the mean error of the fitting residual is greater than the error threshold, there is a half-cycle cycle jump in the future epoch value; if the mean error of the fitting residual is less than or equal to the error threshold, there is a whole-cycle cycle jump in the future epoch value.

[0080] In some embodiments of the present disclosure, a polynomial fitting method is used to perform cycle slip detection based on the initial cycle slip detection result to obtain a target cycle slip detection result. One achievable method is to perform polynomial fitting based on multiple carrier phase values ​​without cycle slips to obtain a fitting polynomial; obtain a predicted phase difference value of a future epoch based on the fitting polynomial; determine the target cycle slip detection result based on the size relationship between the target difference value and the set difference threshold, wherein the target difference value is the difference between the predicted phase difference value and the actual phase difference value.

[0081] In the above embodiment, the target cycle slip detection result is determined according to the magnitude relationship between the target difference value and the set differential threshold, wherein the target difference value is the difference between the predicted phase differential value and the actual phase differential value. One achievable manner is that, when the difference between the predicted phase differential value and the actual phase differential value is less than or equal to the set differential threshold, the target cycle slip detection result is determined to be that there is no cycle slip in the future epoch value; when the difference between the predicted phase differential value and the actual phase differential value is greater than the set differential threshold, the target cycle slip detection result is determined to be that there is a cycle slip in the future epoch value.

[0082] In the above embodiment, polynomial fitting is performed based on m carrier phase values ​​without cycle slips to obtain a fitting polynomial. The steps are as follows:

[0083] a. Construct a fitting polynomial:

[0084]

[0085] Among them, m>n+1, is the single difference operator between epochs, t is the time of observation epoch;

[0086] b, and obtain the fitting coefficients a0, a1, ..., a by least squares. n , according to the fitting residual v i Calculate the error σ:

[0087]

[0088] c. The predicted phase difference value of the next epoch is derived based on the fitting polynomial The actual phase difference Compare, remember

[0089] d, if |ΔN|≤3σ, then t m+1 If there is no cycle slip in the epoch value, then the predicted phase difference value of the next epoch is If |ΔN|>3σ, then predict t m+1 There is a cycle jump in the epoch value, the new observation value:

[0090]

[0091] Among them, fix is ​​the integer symbol, and the decimal part of the actual phase difference value At this time, it is necessary to perform the error test in the fitting residual again, repeat the above process, and determine whether the error in the fitting residual σ′ exceeds the limit. Based on experience, the error threshold T is set to 0.2. If the error in the fitting residual is greater than the error threshold, there will be a half-cycle jump in the future epoch value; if the error in the fitting residual is less than or equal to the error threshold, there will be a full-cycle jump in the future epoch value. New observation value:

[0092]

[0093] Add the phase difference value of the next epoch in step d to the fitted phase value, remove the first phase value of the new sequence, and repeat the process of steps a to e using the new m phase sequences until the cycle ends.

[0094] In a cycle slip detection scenario, a 40-minute static experiment was conducted using a receiver with a sampling rate of 1 Hz. Figure 2 The cycle slip detection method shown in the figure is used to detect cycle slips. After the phase value is repaired by clock slips, the generating function method is used to determine the cycle slips of the dual-frequency phase observation value. Figure 3 This is a schematic diagram of a GF combination sequence provided by an exemplary embodiment of the present disclosure, comparing the cycle slip test quantity constructed by the generating function method with the threshold. If the measurement error σ of φ1 and φ5 is ±0.01 cycle, then the mean error of the GF constructed quantity is If the cycle jump test value exceeds the threshold, it is judged as a cycle jump. If it is within the threshold range, there are three situations: no cycle jump, two frequencies have the same cycle jump, and three is a sensitive cycle jump. Depend on Figure 2 It can be seen that under the generating function method, the cycle slip construction quantity is within the threshold range, and other methods need to be combined to make a judgment. This paper chooses to judge the cycle slip of the L1 phase value, compares the double difference GF value, and obtains the cycle slip of L5.

[0095] For the single-frequency phase observation value L1, the fourth difference is used to determine the small cycle slip. The choice of reference star does not affect the cycle slip epoch and value. Taking GPS as an example, G08 is used as the reference star for inter-satellite difference, and then the third difference between epochs is used to detect the cycle slip and mark the position of the cycle slip. Polynomial fitting is used to specifically determine the cycle slip value of the marked position and the cycle slip epoch and value of the reference star.

[0096] Figure 4 Schematic diagram of an L1 carrier phase observation value sequence provided by an exemplary embodiment of the present disclosure. Figure 4 As shown in the figure, two cycle slips occurred between epochs 1840 and 1900, which were marked. The specific cycle slip situation cannot be correctly judged under the fourth difference, and other methods need to be combined to judge. The polynomial fitting method is used to judge the cycle slip of the first-order difference phase observation value of the epoch after inter-satellite difference and the first-order difference phase observation value of the reference star epoch before and after the cycle slip mark epoch. The sum of the cycle slips of the two is the cycle slip value of the non-reference star. The cycle slip situation is shown in Table 1L1 frequency cycle slip pair.

[0097]

[0098]

[0099] Table 1

[0100] The phase value is repaired for cycle slips, and the corresponding cycle slip value is subtracted at and after the cycle slip epoch. In order to verify the correctness of the cycle slip detection, the phase residual mean error before and after the cycle slip repair is compared. See Table 2 for the L1 phase residual mean error and Table 3 for the L5 phase residual mean error.

[0101]

[0102] Table 2

[0103]

[0104] Table 3

[0105] It can be seen from Tables 2 and 3 that after the cycle slip repair, the accuracy of the L1 phase residual mean error is improved by 16%-22%, and the residual mean error is increased from 9.0mm to 7mm. The accuracy of the L5 phase residual mean error is improved by 8%-11%, and the residual mean error is increased from 9.2mm to 8mm.

[0106] From the above analysis, it can be seen that the polynomial fitting method uses the cycle slip mark to assist the fourth difference or generating function method to detect cycle slips. It can not only quickly and accurately determine the epoch and value of the cycle slip, but also effectively distinguish continuous cycle slips. This method successfully detects and repairs cycle slips as small as 0.5 cycle, improving the quality of GNSS original observation data.

[0107] In the above method embodiment of the present invention, large cycle slip detection and repair are performed according to the combination value of pseudorange and carrier phase to obtain large cycle slip detection results; the carrier phase observation value is affected by clock slips, and the Doppler observation value is not affected by clock slips, and clock slip detection and repair are performed using the combination value of Doppler observation value and carrier phase to improve the accuracy of clock slip detection; the GF combination, high-order difference method and polynomial fitting method are used to perform cycle slip detection to obtain target cycle slip detection results, thereby improving the accuracy of cycle slip detection.

[0108] Figure 5 FIG. 5 is a schematic diagram of the structure of a cycle slip detection device 50 provided by an exemplary embodiment of the present disclosure. Figure 5 As shown, the cycle slip detection device 50 includes: a first detection module 51, a second detection module 52 and a third detection module 53.

[0109] The first detection module 51 is used to detect and repair large cycle slips according to the pseudorange and carrier phase combination value to obtain large cycle slip detection results;

[0110] The second detection module 52 is used to perform clock jump detection and repair according to the Doppler observation value and the carrier phase combination value when the large cycle slip detection result is repaired, so as to obtain the repaired pseudorange and the repaired carrier phase observation value;

[0111] The third detection module 53 performs cycle slip detection by using a generating function method, a high-order difference method and a polynomial fitting method according to the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result.

[0112] Optionally, after performing clock jump detection according to the Doppler observation value and the carrier phase combination value, the second detection module 52 may also be used to:

[0113] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be a clock jump occurrence;

[0114] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be that no clock jump has occurred.

[0115] Optionally, when the third detection module 53 performs cycle slip detection by using a generating function method, a high-order difference method and a polynomial fitting method according to the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result, it is used to:

[0116] The generating function method is used to detect cycle slips for dual-frequency phase values, and the high-order difference method is used to detect cycle slips for single-frequency phase values ​​to obtain initial cycle slip detection results;

[0117] According to the initial cycle slip detection results, the polynomial fitting method is used to perform cycle slip detection and obtain the target cycle slip detection results.

[0118] Optionally, when the third detection module 53 performs cycle slip detection by using a polynomial fitting method according to the initial cycle slip detection result to obtain a target cycle slip detection result, it is configured to:

[0119] Performing polynomial fitting according to a plurality of carrier phase values ​​without cycle slips to obtain a fitting polynomial;

[0120] According to the fitting polynomial, the predicted phase difference value of the future epoch is obtained;

[0121] The target cycle slip detection result is determined according to the size relationship between the target difference value and the set difference threshold, wherein the target difference value is the difference between the predicted phase difference value and the actual phase difference value.

[0122] Optionally, after determining that the target cycle slip detection result is that a cycle slip exists in a future epoch value, the third detection module 53 may also be used to:

[0123] Determine the relationship between the error in the fitting residual and the error threshold;

[0124] If the error in the fitting residual is greater than the error threshold, there is a half-cycle slip in the future epoch value;

[0125] If the error in the fitting residual is less than or equal to the error threshold, there is a whole cycle slip in the future epoch value.

[0126] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0127] Figure 6 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 6 As shown, the electronic device includes: a memory 61 and a processor 62. In addition, the electronic device also includes a power supply component 63 and a communication component 64.

[0128] The memory 61 is used to store computer programs and can be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application program or method operating on the electronic device.

[0129] Memory 61 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0130] The communication component 64 is used for data transmission with other devices.

[0131] The processor 62 can execute computer instructions stored in the memory 61 to: perform large cycle slip detection and repair according to the pseudorange and carrier phase combination value to obtain a large cycle slip detection result; when the large cycle slip detection result is repaired, perform clock slip detection and repair according to the Doppler observation value and the carrier phase combination value to obtain a repaired pseudorange and a repaired carrier phase observation value; based on the repaired pseudorange and the repaired carrier phase observation value, use a generating function method, a high-order difference method and a polynomial fitting method to jointly perform cycle slip detection to obtain a cycle slip detection result.

[0132] Optionally, after performing clock jump detection according to the Doppler observation value and the carrier phase combination value, the processor 62 may also be used to:

[0133] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be a clock jump occurrence;

[0134] When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be that no clock jump has occurred.

[0135] Optionally, when the processor 62 performs cycle slip detection by using a generating function method, a high-order difference method, and a polynomial fitting method according to the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result, it is configured to:

[0136] The generating function method is used to detect cycle slips for dual-frequency phase values, and the high-order difference method is used to detect cycle slips for single-frequency phase values ​​to obtain initial cycle slip detection results;

[0137] According to the initial cycle slip detection results, the polynomial fitting method is used to perform cycle slip detection and obtain the target cycle slip detection results.

[0138] Optionally, when the processor 62 performs cycle slip detection by using a polynomial fitting method according to the initial cycle slip detection result to obtain a target cycle slip detection result, it is configured to:

[0139] Performing polynomial fitting according to a plurality of carrier phase values ​​without cycle slips to obtain a fitting polynomial;

[0140] According to the fitting polynomial, the predicted phase difference value of the future epoch is obtained;

[0141] The target cycle slip detection result is determined according to the size relationship between the target difference value and the set difference threshold, wherein the target difference value is the difference between the predicted phase difference value and the actual phase difference value.

[0142] Optionally, after determining that the target cycle slip detection result is that a cycle slip exists in a future epoch value, the processor 62 may further be used to:

[0143] Determine the relationship between the error in the fitting residual and the error threshold;

[0144] If the error in the fitting residual is greater than the error threshold, there is a half-cycle slip in the future epoch value;

[0145] If the error in the fitting residual is less than or equal to the error threshold, there is a whole cycle slip in the future epoch value.

[0146] Accordingly, the present disclosure also provides a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores the computer program and the computer program is executed by one or more processors, the one or more processors execute Figure 1 Each step in the method embodiment.

[0147] Accordingly, the present disclosure also provides a computer program product, the computer program product includes a computer program / instruction, the computer program / instruction is executed by a processor Figure 1 Each step in the method embodiment.

[0148] Above Figure 6 The communication component in is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0149] Above Figure 6The power supply component in the device provides power to various components of the device where the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply component is located.

[0150] The electronic device also includes an audio component and a display screen.

[0151] The display screen includes a screen, and the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0152] The audio component may be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal may be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal.

[0153] In the above-mentioned apparatus, device, storage medium and computer program product embodiments of the present invention, large cycle slip detection and repair are performed based on the pseudorange and carrier phase combination value to obtain a large cycle slip detection result; the carrier phase observation value is affected by the clock jump, and the Doppler observation value is not affected by the clock jump, and the clock jump detection and repair are performed using the Doppler observation value and the carrier phase combination value to improve the accuracy of clock jump detection; the GF combination, high-order difference method and polynomial fitting method are used to perform cycle slip detection to obtain the target cycle slip detection result, thereby improving the accuracy of cycle slip detection.

[0154] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0158] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0159] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0160] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0161] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0162] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cycle slip detection method, characterized in that: include: Large cycle slip detection and repair are performed according to the combined value of pseudorange and carrier phase to obtain large cycle slip detection results; When the large cycle slip detection result is repaired, clock slip detection and repair are performed according to the Doppler observation value and the carrier phase combination value to obtain a repaired pseudorange and a repaired carrier phase observation value; According to the repaired pseudorange and the repaired carrier phase observation value, a generating function method, a high-order difference method and a polynomial fitting method are used to jointly perform cycle slip detection to obtain a cycle slip detection result.

2. The method according to claim 1, characterized in that After performing clock jump detection according to the Doppler observation value and the carrier phase combination value, the method further includes: When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be a clock jump occurrence; When the clock jump detection value is greater than the clock jump threshold, the clock jump detection result is determined to be that no clock jump occurs.

3. The method according to claim 1, characterized in that The method of performing cycle slip detection based on the repaired pseudorange and the repaired carrier phase observation value by using a generating function method, a high-order difference method and a polynomial fitting method to obtain a cycle slip detection result includes: The generating function method is used to detect cycle slips for dual-frequency phase values, and the high-order difference method is used to detect cycle slips for single-frequency phase values ​​to obtain initial cycle slip detection results; According to the initial cycle slip detection result, the polynomial fitting method is used to perform cycle slip detection to obtain the target cycle slip detection result.

4. The method according to claim 3, characterized in that The step of performing cycle slip detection according to the initial cycle slip detection result by using the polynomial fitting method to obtain the target cycle slip detection result includes: Performing polynomial fitting according to a plurality of carrier phase values ​​without cycle slips to obtain a fitting polynomial; Obtaining the predicted phase difference value of the future epoch according to the fitting polynomial; The target cycle slip detection result is determined according to the magnitude relationship between the target difference value and the set difference threshold, wherein the target difference value is the difference between the predicted phase difference value and the actual phase difference value.

5. The method according to claim 4, characterized in that After determining that the target cycle slip detection result is that a future epoch value has a cycle slip, the method further includes: Determine the relationship between the error in the fitting residual and the error threshold; If the error in the fitting residual is greater than the error threshold, there is a half-cycle slip in the future epoch value; If the error in the fitting residual is less than or equal to the error threshold, there is a whole cycle slip in the future epoch value.

6. A cycle slip detection device, characterized in that: include: The first detection module is used to detect and repair large cycle slips according to the combined value of pseudorange and carrier phase to obtain large cycle slip detection results; The second detection module is used to perform clock jump detection and repair according to the Doppler observation value and the carrier phase combination value when the large cycle slip detection result is repaired, so as to obtain a repaired pseudorange and a repaired carrier phase observation value; The third detection module uses a generating function method, a high-order difference method and a polynomial fitting method to perform cycle slip detection based on the repaired pseudorange and the repaired carrier phase observation value to obtain a cycle slip detection result.

7. The device according to claim 6, characterized in that The third detection module performs cycle slip detection by using a generating function method, a high-order difference method and a polynomial fitting method according to the repaired pseudorange and the repaired carrier phase observation value, and when obtaining a cycle slip detection result, is used to: The generating function method is used to detect cycle slips for dual-frequency phase values, and the high-order difference method is used to detect cycle slips for single-frequency phase values ​​to obtain initial cycle slip detection results; According to the initial cycle slip detection result, the polynomial fitting method is used to perform cycle slip detection to obtain the target cycle slip detection result.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement each step in the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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