Cycle slip detection method and device, receiver and storage medium

Abstract

The invention discloses a cycle slip detection method and device, a receiver and a storage medium, and the method comprises the steps: carrying out the cycle slip detection of carrier phase measurement of a target satellite through employing a first cycle slip detection method, and the first cycle slip detection method is a cycle slip detection method which does not eliminate the ionosphere effect; performing cycle slip detection on the carrier phase measurement of the target satellite by using a second cycle slip detection method, wherein the second cycle slip detection method is a cycle slip detection method for eliminating an ionosphere effect; and if it is detected that the carrier phase measurement of the target satellite has cycle slip through the first cycle slip detection method and that the carrier phase measurement of the target satellite does not have cycle slip through the second cycle slip detection method, marking the target satellite as that the carrier phase measurement does not have cycle slip.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and more specifically, to a cycle slip detection method and device, a receiver, and a storage medium. Background Art

[0002] The global navigation satellite system (GNSS) is a system composed of multiple satellites that provides global positioning, navigation and timing services. Carrier phase observations refer to the values ​​used to measure carrier phase changes in the GNSS measurement system. They are usually expressed in weeks and are important parameters for GNSS high-precision positioning services.

[0003] During the carrier phase measurement, when energy anomalies occur in the ionosphere (such as ionospheric scintillation), a large number of pseudo cycle slips may occur, which will affect the accuracy of carrier phase cycle slip detection and slow down the filter convergence speed. Summary of the invention

[0004] The embodiments of the present application provide a cycle slip detection method and device, a receiver, and a storage medium. The following introduces various aspects involved in the embodiments of the present application.

[0005] In a first aspect, a cycle slip detection method is provided, comprising: performing cycle slip detection on a carrier phase measurement of a target satellite using a first cycle slip detection method, the first cycle slip detection method being a cycle slip detection method that does not eliminate ionospheric effects; performing cycle slip detection on the carrier phase measurement of the target satellite using a second cycle slip detection method, the second cycle slip detection method being a cycle slip detection method that eliminates ionospheric effects; if the first cycle slip detection method detects that a cycle slip exists in the carrier phase measurement of the target satellite, and the second cycle slip detection method detects that a cycle slip does not exist in the carrier phase measurement of the target satellite, then marking the target satellite as having no cycle slip in the carrier phase measurement.

[0006] As a possible implementation manner, the method also includes: if a cycle slip is detected in the carrier phase measurement of the target satellite by the first cycle slip detection method, and a cycle slip is detected in the carrier phase measurement of the target satellite by the second cycle slip detection method, the target satellite is marked as having a cycle slip in the carrier phase measurement.

[0007] As a possible implementation manner, the method further includes: in response to the target satellite being marked as having a cycle slip in carrier phase measurement, initializing the ambiguity parameters of the target satellite.

[0008] As a possible implementation manner, the first cycle slip detection method includes a DDGF combination method and / or a TDCP method.

[0009] As a possible implementation manner, the first cycle slip detection method includes the TDCP method, and the method also includes: if there is a cycle slip in the carrier phase measurement of the target satellite, and the difference between the non-difference carrier observation value residual of the first epoch and the non-difference carrier observation value residual of the second epoch in the TDCP method is less than a preset threshold, then using the TDCP method to repair the cycle slip in the carrier phase measurement of the target satellite; wherein the first epoch is greater than the second epoch.

[0010] As a possible implementation manner, the second cycle slip detection method includes a GIF combination method and / or a SDIF combination method.

[0011] As a possible implementation manner, the first cycle slip detection method and the second cycle slip detection method are applied to PPP positioning technology.

[0012] In a second aspect, a cycle slip detection device is provided, comprising: a first detection unit, used to perform cycle slip detection on the carrier phase measurement of the target satellite using a first cycle slip detection method, wherein the first cycle slip detection method is a cycle slip detection method that does not eliminate the ionospheric effect; a second detection unit, used to perform cycle slip detection on the carrier phase measurement of the target satellite using a second cycle slip detection method, wherein the second cycle slip detection method is a cycle slip detection method that eliminates the ionospheric effect; and a marking unit, used to mark the target satellite as having no cycle slip in the carrier phase measurement if the first cycle slip detection method detects that the carrier phase measurement of the target satellite has a cycle slip, and the second cycle slip detection method detects that the carrier phase measurement of the target satellite does not have a cycle slip.

[0013] According to a third aspect, a receiver is provided, comprising: a memory for storing codes; and a processor for executing the codes stored in the memory to execute the method as described in the first aspect or any implementation of the first aspect.

[0014] According to a fourth aspect, a computer-readable storage medium is provided, on which is stored a method for executing the method described in the first aspect or any implementation of the first aspect.

[0015] The present application provides a cycle slip detection method, including: using a first cycle slip detection method to perform cycle slip detection on a carrier phase measurement of a target satellite, the first cycle slip detection method is a cycle slip detection method that does not eliminate ionospheric effects; using a second cycle slip detection method to perform cycle slip detection on a carrier phase measurement of a target satellite, the second cycle slip detection method is a cycle slip detection method that eliminates ionospheric effects; if the carrier phase measurement of the target satellite is detected to have cycle slips by the first cycle slip detection method, and the carrier phase measurement of the target satellite is detected to have no cycle slips by the second cycle slip detection method, then the target satellite is marked as having no cycle slips in the carrier phase measurement. In an embodiment of the present application, a cycle slip is detected by a first cycle slip detection method (a detection method that does not eliminate ionospheric effects), and then a second cycle slip detection method (a detection method that eliminates ionospheric effects) is used to detect a cycle slip. When the first cycle slip detection method determines that a cycle slip exists, and the second cycle slip detection method determines that a cycle slip does not exist, it can be determined that the current cycle slip is a pseudo cycle slip caused by an ionospheric anomaly (such as ionospheric scintillation), so the target satellite does not need to be marked for a cycle slip, thereby helping to improve the accuracy of cycle slip detection. In addition, since the target satellite does not need to be marked with a cycle slip, the initialization of the ambiguity parameters of the target satellite can also be avoided, which helps to improve the filter convergence speed of the GNSS receiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a cycle slip detection method provided in one embodiment of the present application.

[0017] Figure 2 It is a flow chart of a cycle slip detection method provided in another embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a cycle slip detection device provided in one embodiment of the present application.

[0019] Figure 4 It is a structural diagram of a receiver provided in one embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present application should fall within the scope of protection of the present application.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] Before introducing the embodiments of the present application, the terms in the embodiments of the present application are first explained.

[0024] Cycle Slip

[0025] In GNSS technology, a cycle slip can refer to an integer discontinuity in carrier phase measurement. Specifically, a cycle slip refers to a sudden integer cycle change in the carrier phase measurement value due to some reason during the receiver's tracking of satellite signals.

[0026] That is, a cycle slip is when the carrier phase measurement changes suddenly by an integer number of cycles between consecutive observations, rather than changing smoothly and continuously. For example, strong ionospheric disturbances, tropospheric changes, and other factors may cause a cycle slip.

[0027] In GNSS precision positioning, carrier phase observations are the key to ensuring high-precision positioning. However, compared with pseudorange, carrier phase observations have problems in determining cycle slips and ambiguity unknowns. The study of cycle slips has been continuously deepened along with the development of GNSS precision positioning technology. With different research objects, domestic and foreign scholars have successively proposed many methods, such as: high-order difference method, polynomial fitting method, Kalman filter method, etc.; for the problem of cycle slip detection of non-difference observation data, Blewitt, a scholar from JPL in the United States, first proposed the TurboEdit algorithm, which uses the Melbourne-Wibbena (MW) combination method combined with the geometry-free (GF) combination method to detect and repair cycle slips. Because this method is suitable for real-time data processing scenarios, it is widely used in the industry. Other scholars have made a lot of modifications and improvements to the TurboEdit algorithm, such as expanding the algorithm to the field of multi-frequency GNSS data processing. In order to deeply analyze the relationship between ionospheric changes and cycle slip detection capabilities, Professor Liu Zhizhao of the Hong Kong Polytechnic University proposed the TECR method; based on the epoch difference idea, scholars have also done a lot of work on the detection and repair of cycle slips.

[0028] Among the many methods of cycle slip detection, constructing different combination types based on multi-frequency observations has obvious advantages in detecting and repairing cycle slips, but the combination of different frequency points of GNSS observations is not unique. There are many combination types and the given combination coefficients are mainly used to simulate cycle slips for testing, and the actual measured effect is not very significant. The cycle slip detection ability of the TECR method is mainly limited by the sampling rate of the observations. The widely used TurboEdit algorithm has limited cycle slip detection ability due to the large pseudo-range noise of the MW combination, and the GF combination is also easily affected by the ionospheric delay and cannot accurately detect cycle slips, and a large number of pseudo cycle slips will occur, especially in southern my country where ionospheric scintillation occurs frequently.

[0029] According to the above content, during the carrier phase measurement process, when the ionosphere has energy anomalies (such as ionospheric scintillation), a large number of pseudo cycle slips may occur, affecting the accuracy of carrier phase cycle slip detection. In addition, a large number of pseudo cycle slips will cause the satellite ambiguity parameters to be initialized frequently, which will lead to a slow filter convergence speed.

[0030] In view of the above problems, the present application provides a cycle slip detection method, including: using a first cycle slip detection method to perform cycle slip detection on the carrier phase measurement of the target satellite, the first cycle slip detection method is a cycle slip detection method that does not eliminate the ionospheric effect; using a second cycle slip detection method to perform cycle slip detection on the carrier phase measurement of the target satellite, the second cycle slip detection method is a cycle slip detection method that eliminates the ionospheric effect; if the carrier phase measurement of the target satellite is detected to have cycle slips by the first cycle slip detection method, and the carrier phase measurement of the target satellite is detected to have no cycle slips by the second cycle slip detection method, then the target satellite is marked as having no cycle slips in the carrier phase measurement. In an embodiment of the present application, the cycle slip is detected by the first cycle slip detection method (a detection method that does not eliminate the ionospheric effect), and then the cycle slip is detected by the second cycle slip detection method (a detection method that eliminates the ionospheric effect). When the first cycle slip detection method determines that there is a cycle slip, and the second cycle slip detection method determines that there is no cycle slip, it can be determined that the current cycle slip is a pseudo cycle slip caused by an ionospheric anomaly (such as ionospheric scintillation), so the target satellite does not need to be marked as a cycle slip, which helps to improve the accuracy of cycle slip detection. In addition, since the target satellite does not need to be marked with a cycle slip, the initialization of the ambiguity parameters of the target satellite can also be avoided, which helps to improve the filter convergence speed of the GNSS receiver.

[0031] Combined with the following Figure 1 The cycle slip detection method in the embodiment of the present application is described in detail. Figure 1 As shown, the cycle slip detection method 100 may include steps: S110 to S130.

[0032] It should be noted that the cycle slip detection method in the embodiment of the present application can be applied to a receiver, such as a GNSS receiver. The present application does not specifically limit the type of receiver. For example, the receiver can be a high-precision receiver, a multi-system receiver, or an anti-interference receiver.

[0033] In step S110, cycle slip detection is performed on the carrier phase measurement of the target satellite using a first cycle slip detection method, where the first cycle slip detection method is a cycle slip detection method that does not eliminate the ionospheric effect.

[0034] The target satellite in the embodiment of the present application may refer to any satellite detected by the cycle slip detection method in the present application. The present application does not specifically limit the type of the target satellite. For example, the target satellite may be a low-orbit satellite; for another example, the target satellite may also be a high-orbit satellite.

[0035] In an embodiment of the present application, a cycle slip detection method that does not eliminate ionospheric effects (such as a first cycle slip detection method) may refer to a cycle slip detection method that is not specifically designed to eliminate ionospheric effects.

[0036] Since the first cycle slip detection method is not specifically designed to eliminate the ionospheric effect, the complexity of the first cycle slip detection method can be reduced. In some implementations, the first cycle slip detection method can be designed to effectively eliminate or reduce the influence of common error sources (such as satellite clock errors, receiver clock errors, etc.).

[0037] It should be noted that, although the first cycle slip detection method is not a cycle slip detection method specially designed to eliminate the ionospheric effect, the first cycle slip detection method can also have a certain ability to weaken the ionospheric effect, but it is difficult to accurately identify the cycle slips that are not affected by the ionosphere. Of course, the first cycle slip detection method may not have the ability to weaken the ionospheric effect at all.

[0038] In some implementations, the first cycle slip detection method includes, but is not limited to, a double difference geometry free (DDGF) combination method and / or a time difference carrier phase (TDCP) method.

[0039] As an example, the formula for detecting cycle slips using the DDGF combination method is:

[0040] GF 1x (t,t-1)={λ1φ1(t)-λ x φ x (t)}-{λ1φ1(t-1)-λ x φ x (t-1)}

[0041] GF 1x (t-1,t-2)={λ1φ1(t-1)-λ x φ x (t-1)}-{λ1φ1(t-2)-λ x φ x (t-2)}

[0042] DDGF 1x =GF 1x (t,t-1)-GF 1x (t-1,t-2)

[0043] Among them, λ1 and λ x are the wavelengths corresponding to L1 and other frequencies; φ1(t) and φ x (t) are the carrier phase observation values ​​corresponding to L1 and other frequency points at time t, x = 2, ..., n, n is the total number of frequency points of each satellite system, GF 1x(t, t-1) represents the first difference algorithm of the geometry free (GF) combination method at time t and (t-1), DDGF 1x Represents the quadratic difference algorithm value of the GF combination method.

[0044] It should be noted that when DDGF 1x When it is greater than a preset threshold, it is considered that there is a cycle slip in the carrier phase measurement of the target satellite, and the target satellite will be marked as having a cycle slip. The preset threshold can be set according to demand.

[0045] As another example, the formula for detecting and repairing cycle slips using the TDCP method is:

[0046] CP x (t) = λ x φ x (t)-(ρ(t)-dts(t)+shd(t))

[0047] CP x (t-1) = λ x φ x (t-1)-(ρ(t-1)-dts(t-1)+shd(t-1))

[0048] TDCP x =CP x (t)-CP x (t-1)

[0049] Among them, λ1 and λ x are the wavelengths corresponding to L1 and other frequencies; φ1(t) and φ x (t) are the carrier phase observation values ​​corresponding to L1 and other frequency points at time t, x = 1, ..., n, x is the corresponding frequency point of each satellite system, CP x (t) is the residual of the undifferenced carrier observation in the first epoch, CP x (t-1) is the undifferenced carrier observation residual of the second epoch, the first epoch may refer to a specific time t, and the second epoch may refer to a specific time (t-1).

[0050] It should be noted that when TDCP x When it is greater than the first threshold, it is considered that there is a cycle slip in the carrier phase measurement of the target satellite, and the target satellite will be marked as having a cycle slip.

[0051] It should be noted that when TDCP x is greater than the first threshold, and DDGF 1xWhen the value is less than the second threshold, the DDGF combination method can be used to repair the cycle slip of the frequency point corresponding to the target satellite. After repairing the cycle slip, the target satellite can be marked as having no cycle slip in the carrier phase measurement. The first threshold and the second threshold can be set according to the needs, and this application does not make specific restrictions on this.

[0052] That is to say, when the fluctuation of the residual of the non-difference carrier observation value in the TDCP method is not very large, the cycle slip can be repaired. For example, if there is a cycle slip in the carrier phase measurement of the target satellite, and the difference between the residual of the non-difference carrier observation value of the first epoch and the residual of the non-difference carrier observation value of the second epoch in the TDCP method is less than a preset threshold (such as the second threshold), the TDCP method is used to repair the cycle slip in the carrier phase measurement of the target satellite; wherein the first epoch is greater than the second epoch, the first epoch may refer to a specific time t, and the second epoch may refer to a specific time (t-1).

[0053] The embodiments of the present application relate to frequency points and wavelengths corresponding to the frequency points in a GNSS system. The following provides examples of some frequency points commonly used in several major GNSS systems and the wavelengths corresponding to the frequency points.

[0054] For example, the United States' global positioning system (GPS):

[0055] L1: 1575.42MHz, the corresponding wavelength is about 19.03cm;

[0056] L2: 1227.60MHz, the corresponding wavelength is about 24.43cm;

[0057] L5: 1176.45MHz, which corresponds to a wavelength of approximately 25.50cm.

[0058] Another example is Russia's global navigation satellite system (GLONASS):

[0059] L1: 1602MHz+k×0.5625MHz (k=0...23), the corresponding wavelength is about 18.72cm~18.61cm;

[0060] L2: 1246 MHz + k × 0.4375 MHz (k = 0 ... 23), the corresponding wavelength is approximately 24.07 cm ~ 24.22 cm.

[0061] Another example is Europe's Galileo Positioning System (Galileo):

[0062] E1 (similar to L1): 1575.40MHz, the corresponding wavelength is about 19.04cm;

[0063] E5a: 1176.45MHz, the corresponding wavelength is about 25.50cm;

[0064] E5b: 1207.14MHz, which corresponds to a wavelength of approximately 24.85cm.

[0065] Another example is China's BeiDou navigation satellite system:

[0066] B1I (similar to L1): 1561.098MHz, corresponding to a wavelength of approximately 19.22cm;

[0067] B2a: 1207.14MHz, the corresponding wavelength is about 24.85cm;

[0068] B3I: 1268.52MHz, which corresponds to a wavelength of approximately 23.65cm.

[0069] In step S120, cycle slip detection is performed on the carrier phase measurement of the target satellite using a second cycle slip detection method, where the second cycle slip detection method is a cycle slip detection method that eliminates ionospheric effects.

[0070] In an embodiment of the present application, the cycle slip detection method for eliminating ionospheric effects (such as the second cycle slip detection method) may refer to a cycle slip detection method specially designed to eliminate ionospheric effects.

[0071] Since the second cycle slip detection method needs to be specially designed to eliminate the ionospheric effect, it may cause the second cycle slip detection method to be more complicated or introduce other errors. For example, the geometry ionosphere free (GIF) combination method can eliminate or greatly reduce the influence of the ionospheric effect through a specific linear combination. However, the GIF combination method requires a specific linear combination of the dual-frequency signals, which increases the complexity of data processing. In addition, although the GIF combination method eliminates the ionospheric effect, the combination process may introduce other types of errors, such as the tropospheric effect.

[0072] In some implementations, the second cycle slip detection method includes, but is not limited to: a GIF combination method and / or a single difference ionosphere free (SDIF) combination method.

[0073] As an example, the formula for detecting cycle slips using the GIF combination method is:

[0074] IF 12 (t,t-1)=((λ1φ1(t)-λ2φ2(t))-(λ1φ1(t-1)-λ2φ2(t-1))) / (γ 12 -1)

[0075] IF 15 (t,t-1)=((λ1φ1(t)-λ5φ5(t))-(λ1φ1(t-1)-λ5φ5(t-1))) / (γ 15 -1)

[0076] GIF=IF 12 (t,t-1)-IF 15 (t,t-1)

[0077] Among them, λ1 and λ x are the wavelengths corresponding to L1 and other frequencies, φ1(t) and φ x (t) are the carrier phase observation values ​​corresponding to L1 and other frequency points at time t, IF 1x (t, t-1) represents the difference between the ionosphere free (IF) combination method at time t and (t-1), γ 1x =λ x 2 / λ1 2 , x=2,5, x is the total number of frequency points of each satellite system.

[0078] It should be noted that when GIF is greater than a preset threshold, it is considered that there is a cycle slip in the carrier phase measurement of the target satellite, and the target satellite will be marked as having a cycle slip. The preset threshold can be set according to requirements.

[0079] As another example, the formula for detecting cycle slips using the SDIF combination method is:

[0080]

[0081] SDIF 1x =IF 1x (t)-IF 1x (t-1)

[0082] Among them, f1 and f x are the frequency values ​​corresponding to L1 and other frequency points respectively, x=2,…,n, n is the total frequency points of each satellite system, ρ(t) is the satellite-to-earth distance at time t; dts(t) is the satellite clock error at time t; shd(t) is the tropospheric slant path interference delay at time t.

[0083] It should be noted that when SDIF1x When it is greater than a preset threshold, it is considered that there is a cycle slip in the carrier phase measurement of the target satellite, and the target satellite will be marked as having a cycle slip. The preset threshold can be set according to demand.

[0084] In step S130, if the first cycle slip detection method detects that the carrier phase measurement of the target satellite has a cycle slip, and the second cycle slip detection method detects that the carrier phase measurement of the target satellite does not have a cycle slip, the target satellite is marked as having no cycle slip in the carrier phase measurement.

[0085] In some implementations, if a cycle slip is detected in the carrier phase measurement of the target satellite by the first cycle slip detection method and a cycle slip is detected in the carrier phase measurement of the target satellite by the second cycle slip detection method, the target satellite is marked as having a cycle slip in the carrier phase measurement.

[0086] According to the above content, it can be seen that in the embodiment of the present application, the cycle slip is detected by the first cycle slip detection method (a detection method that does not eliminate the ionospheric effect), and then the cycle slip is detected by the second cycle slip detection method (a detection method that eliminates the ionospheric effect). When the first cycle slip detection method determines that a cycle slip exists, and the second cycle slip detection method determines that a cycle slip does not exist, it can be determined that the current cycle slip is a pseudo cycle slip caused by an ionospheric anomaly (such as ionospheric scintillation), so the target satellite does not need to be marked for a cycle slip, which helps to improve the accuracy of cycle slip detection. In addition, since the target satellite does not need to be marked for a cycle slip, it is also possible to avoid initializing the ambiguity parameters of the target satellite, which helps to improve the filtering convergence speed of the GNSS receiver.

[0087] In some implementations, in response to the target satellite being marked as having a cycle slip in carrier phase measurement, the ambiguity parameters of the target satellite are initialized.

[0088] It should be noted that once a cycle slip in the carrier phase measurement is detected, the GNSS receiver will automatically initialize the ambiguity parameters to ensure that the continuity of the carrier phase measurement is restored, thereby improving positioning accuracy, avoiding cumulative errors, and maintaining system stability and reliability.

[0089] The cycle slip detection method (the first cycle slip detection method and the second cycle slip detection method) in the embodiment of the present application can be applied to the precise point positioning (PPP) technology. Of course, it can also be applied to other positioning technologies (such as real-time dynamic positioning technology), and the present application does not make specific restrictions on this.

[0090] The following describes the embodiments of the present application in more detail with reference to specific examples. Figure 2It is only to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0091] Figure 2 FIG. 1 is a flow chart of another cycle slip detection method provided in an embodiment of the present application. Figure 2 , the cycle slip detection method may include the following steps: S201~S206.

[0092] In step S201: cycle slip detection is performed on the carrier phase measurement of the target satellite using the DDGF combination method.

[0093] In step S202: cycle slip detection is performed on the carrier phase measurement of the target satellite using the GIF combination method.

[0094] In step S203: the SDIF combination method is used to perform cycle slip detection on the carrier phase measurement of the target satellite.

[0095] In step S204: the carrier phase measurement of the target satellite is measured using the TDCP combination method to perform cycle slip detection.

[0096] In step S205: when the DDGF combination method and the TDCP method detect the existence of a cycle slip in the carrier phase measurement of the target satellite, it is determined whether the GIF combination method and the SDIF combination method detect the existence of a cycle slip in the carrier phase measurement of the target satellite. If the GIF combination method and the SDIF combination method detect the existence of a cycle slip in the carrier phase measurement of the target satellite, the process jumps to step S206; if the GIF combination method and the SDIF combination method do not detect the existence of a cycle slip in the carrier phase measurement of the target satellite, the process jumps to step S207.

[0097] In step S206: the target satellite is marked as having a cycle slip in the carrier phase measurement, and the ambiguity parameters of the target satellite are initialized.

[0098] In step S207: it is determined that the current cycle slip of the target satellite is a pseudo cycle slip caused by an ionospheric anomaly (such as ionospheric scintillation), so the target satellite does not need to be marked for a cycle slip, thereby avoiding initialization processing of the ambiguity parameters of the target satellite.

[0099] It should be noted that although the TDCP method has the lowest noise, it does not have the characteristics of geometry-free and ionosphere-free; although the DDGF combination method meets the geometry-free and low noise level, and the ionosphere weakening effect is more obvious after the second difference, this is only relative to the ionosphere calm period. For the ionosphere disturbance period, the DDGF combination method is not ideal in weakening the ionosphere delay, and it is difficult to accurately identify the cycle slips that are not affected by the ionosphere.

[0100] According to the above content, it can be seen that this scheme mainly constructs a GIF and SDIF combination method to effectively eliminate the influence of ionospheric delay error on cycle slip detection, and then combines it with the DDGF combination method and the TDCP method for cycle slip detection; when the DDGF combination method and the TDCP method detect the existence of a cycle slip, and the GIF combination method and the SDIF combination method do not detect a cycle slip, it can be determined that the current cycle slip is a pseudo cycle slip caused by an ionospheric anomaly (such as ionospheric scintillation), and the satellite is not marked as a cycle slip, thereby increasing the number of available satellites. Since the satellite is not marked as a cycle slip, the frequent initialization of the ambiguity parameters can be effectively reduced, and further, the accuracy of the PPP floating point solution and the fixed performance of PPP-AR are effectively improved.

[0101] It should be noted that for the construction of geometry-free and ionosphere-free combined type cycle slip detection method, based on multi-frequency observations, according to the corresponding objective function, the combination coefficient is constructed to achieve the detection of pseudo cycle slips. However, the method of detecting pseudo cycle slips by constructing combination coefficients has the following disadvantages: since the objective function is not unique, one objective function can fit a set of corresponding combination coefficients; and the difference in combination coefficients will have different degrees of influence on cycle slip detection and repair, so it has limited reference significance for practical applications.

[0102] Combination of the above Figure 1 to Figure 2 The method embodiment of the present application is described in detail. Figure 3 to Figure 4 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0103] Figure 3 FIG. 2 is a schematic diagram of the structure of a cycle slip detection device provided by an embodiment of the present application. Figure 3 The cycle slip detection device 300 may include a first detection unit 310 , a second detection unit 320 and a marking unit 330 .

[0104] The first detection unit 310 is used to perform cycle slip detection on the carrier phase measurement of the target satellite by using a first cycle slip detection method, wherein the first cycle slip detection method is a cycle slip detection method that does not eliminate the ionospheric effect.

[0105] The second detection unit 320 is used to perform cycle slip detection on the carrier phase measurement of the target satellite using a second cycle slip detection method, where the second cycle slip detection method is a cycle slip detection method that eliminates ionospheric effects.

[0106] The marking unit 330 is used to mark the target satellite as having no cycle slip in the carrier phase measurement if the first cycle slip detection method detects that there is a cycle slip in the carrier phase measurement of the target satellite, and the second cycle slip detection method detects that there is no cycle slip in the carrier phase measurement of the target satellite.

[0107] Optionally, the cycle slip detection device 300 also includes: a second marking unit, used to mark the target satellite as having a cycle slip in the carrier phase measurement if a cycle slip is detected in the carrier phase measurement of the target satellite by the first cycle slip detection method and a cycle slip is detected in the carrier phase measurement of the target satellite by the second cycle slip detection method.

[0108] Optionally, the cycle slip detection device 300 further includes: an initialization unit, configured to initialize the ambiguity parameters of the target satellite in response to the target satellite being marked as having a cycle slip in carrier phase measurement.

[0109] Optionally, the first cycle slip detection method includes a DDGF combination method and / or a TDCP method.

[0110] Optionally, the first cycle slip detection method includes the TDCP method, and the cycle slip detection device 300 also includes: a repair unit, used to repair the cycle slip in the carrier phase measurement of the target satellite using the TDCP method if there is a cycle slip in the carrier phase measurement of the target satellite, and the difference between the non-difference carrier observation value residual of the first epoch and the non-difference carrier observation value residual of the second epoch in the TDCP method is less than a preset threshold; wherein the first epoch is greater than the second epoch.

[0111] Optionally, the second cycle slip detection method includes a GIF combination method and / or a SDIF combination method.

[0112] Optionally, the first cycle slip detection method and the second cycle slip detection method are applied to PPP positioning technology.

[0113] Combine the following Figure 4 The present invention introduces a receiver 400 in an embodiment of the present application. The receiver 400 may be a GNSS receiver, and the receiver 400 may be used to implement the method described in the above method embodiment.

[0114] The receiver 400 may include one or more processors 410. The processor 410 may support the receiver 400 to implement the method described in the foregoing method embodiment.

[0115] The processor 410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0116] The receiver 400 may further include one or more memories 420. The memory 420 stores a program, which can be executed by the processor 410 to control the receiver 400 to execute the method described in the above method embodiment. The memory 420 may be independent of the processor 410 or integrated in the processor 410.

[0117] The receiver 400 may further include a transceiver 430. The processor 410 may communicate with other devices through the transceiver 430. For example, the processor 410 may perform data transmission and reception with other devices through the transceiver 430.

[0118] The present application also provides a chip in an embodiment, including a processor, which can be used to call and run a computer program from a memory, so that a receiver equipped with the chip performs the method described in the above method embodiment. It can be understood that the processor can be any type of processor mentioned above. It can be understood that the memory can be independent of the chip or integrated in the chip.

[0119] The embodiment of the present application also provides a machine-readable storage medium for storing a program, and the program enables a computer to execute the method in each embodiment of the present application.

[0120] The embodiment of the present application also provides a computer program product. The computer program product includes a program. The program enables a computer to execute the method in each embodiment of the present application.

[0121] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0123] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0126] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A cycle slip detection method, characterized in that: include: Performing cycle slip detection on carrier phase measurement of the target satellite using a first cycle slip detection method, wherein the first cycle slip detection method is a cycle slip detection method that does not eliminate ionospheric effects; Performing cycle slip detection on carrier phase measurement of the target satellite using a second cycle slip detection method, wherein the second cycle slip detection method is a cycle slip detection method that eliminates ionospheric effects; If the first cycle slip detection method detects that the carrier phase measurement of the target satellite has a cycle slip, and the second cycle slip detection method detects that the carrier phase measurement of the target satellite does not have a cycle slip, the target satellite is marked as having no cycle slip in the carrier phase measurement.

2. The method according to claim 1, characterized in that: The method further comprises: If a cycle slip is detected in the carrier phase measurement of the target satellite by the first cycle slip detection method and a cycle slip is detected in the carrier phase measurement of the target satellite by the second cycle slip detection method, the target satellite is marked as having a cycle slip in the carrier phase measurement.

3. The method according to claim 2, characterized in that The method further comprises: In response to the target satellite being marked as having a cycle slip in carrier phase measurement, the ambiguity parameters of the target satellite are initialized.

4. The method according to any one of claims 1 to 3, characterized in that The first cycle slip detection method includes a DDGF combination method and / or a TDCP method.

5. The method according to claim 4, characterized in that The first cycle slip detection method includes the TDCP method, and the method further includes: If there is a cycle slip in the carrier phase measurement of the target satellite, and the difference between the undifferenced carrier observation value residual of the first epoch and the undifferenced carrier observation value residual of the second epoch in the TDCP method is less than a preset threshold, repairing the cycle slip in the carrier phase measurement of the target satellite by using the TDCP method; Wherein, the first epoch is greater than the second epoch.

6. The method according to any one of claims 1 to 3, characterized in that The second cycle slip detection method includes a GIF combination method and / or a SDIF combination method.

7. The method according to any one of claims 1 to 3, characterized in that The first cycle slip detection method and the second cycle slip detection method are applied to PPP positioning technology.

8. A cycle slip detection device, characterized in that: include: A first detection unit, configured to perform cycle slip detection on a carrier phase measurement of a target satellite using a first cycle slip detection method, wherein the first cycle slip detection method is a cycle slip detection method that does not eliminate an ionospheric effect; a second detection unit, configured to perform cycle slip detection on the carrier phase measurement of the target satellite using a second cycle slip detection method, wherein the second cycle slip detection method is a cycle slip detection method that eliminates ionospheric effects; A marking unit is used to mark the target satellite as having no cycle slip in carrier phase measurement if the presence of a cycle slip in the carrier phase measurement of the target satellite is detected by the first cycle slip detection method, and the absence of a cycle slip in the carrier phase measurement of the target satellite is detected by the second cycle slip detection method.

9. A receiver, characterized in that: include: A memory for storing codes; A processor, configured to execute the code stored in the memory to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Code for executing the method according to any one of claims 1 to 7 is stored thereon.

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