Virtual observed quantity cycle slip identification method, apparatus and device, and readable storage medium

Abstract

The invention relates to a virtual observed quantity cycle slip identification method, device and equipment and a readable storage medium, and belongs to the technical field of navigation satellites, the method comprises the following steps: obtaining original observation data of a satellite navigation system in a current epoch, calculating gf combined observation values of satellites, and calculating gf combined observation quantity difference values of common-view satellites in combination with historical observation data; the cycle slip number of the current epoch is determined based on a set cycle slip detection threshold, and finally a cycle slip detection result is determined according to the relation between the cycle slip number and the common-view star number. According to the cycle slip detection result, all the satellites with cycle slips are false detection of cycle slip detection or all the satellites with cycle slips are normal in cycle slip detection. The accuracy and reliability of cycle slip identification can be effectively improved, the false detection rate is reduced, and the overall performance of a satellite navigation system is improved.

Description

Technical Field

[0001] The present invention relates to the field of navigation satellite technology, and in particular to a virtual observation cycle slip identification method, device, equipment and readable storage medium. Background Art

[0002] In the field of navigation satellite technology, especially when using network real-time kinematic measurement (RTK) technology, virtual reference station technology (VRS) has been widely used as an advanced positioning method. VRS technology sets up multiple GPS reference stations in a specific area to form a mesh coverage, and then generates a virtual reference station near the user's mobile station. This virtual reference station calculates the actual observation values ​​of the surrounding reference stations to obtain its own virtual observation values, thereby providing users with high-precision positioning services.

[0003] RTK technology achieves high-precision positioning by differentially processing the carrier phase observations of two measurement stations in real time. Among them, the integer ambiguity is a key parameter in the carrier phase measurement, which represents the integer unknown corresponding to the first observed value of the phase difference between the carrier phase and the reference phase. However, in practical applications, due to interference from various factors, such as multipath effects, ionospheric delay, etc., the carrier phase observations may undergo mutations, which are called "cycle slips".

[0004] Traditional cycle slip detection methods, such as the geometry-free (GF) cycle slip detection method, can effectively detect cycle slips to a certain extent, but there are some problems when processing virtual observations. In particular, under certain specific conditions, such as a certain epoch, all satellites of a satellite system may be mistakenly identified as having cycle slips. This situation will not only reduce the positioning accuracy, but may also lead to unreliable positioning results. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a virtual observation cycle slip identification method, device, equipment and readable storage medium, aiming to solve at least one of the above technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In a first aspect, the present application provides a virtual observation cycle slip identification method, which adopts the following technical solution:

[0008] A virtual observation cycle slip identification method, comprising:

[0009] Acquire original observation data of the satellite navigation system at the current epoch, the original observation data including signal information of each satellite in the satellite navigation system, each of the signal information including signals of multiple frequencies;

[0010] Calculating the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch;

[0011] Calculating a gf combined observation difference of each common-view star based on the historical gf combined observation value of each of the satellites in the previous epoch of the satellite navigation system and the current gf combined observation value of each of the satellites, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each of the common-view stars represents a satellite observed in both the current epoch and the previous epoch;

[0012] Determine the number of cycle slips of the satellite navigation system at the current epoch based on the gf combined observation quantity difference of each of the common-view stars and a set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips;

[0013] Based on the number of cycle slips in the current epoch and the number of all the common-view satellites, a cycle slip detection result is determined, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or that the cycle slip detections of all satellites with cycle slips are normal.

[0014] The beneficial effect of the present invention is that it can effectively identify and eliminate misjudged cycle slips in virtual observation quantities.

[0015] The occurrence of cycle slips will cause the ambiguity to be unable to be fixed, and the larger the cycle slip, the longer it takes to re-fix the ambiguity; and due to the inability to fix the ambiguity and the direct impact of the cycle slip, the positioning error will increase significantly. Therefore, eliminating the misjudged cycle slip detection can effectively maintain the fixed ambiguity and thus improve the overall positioning accuracy.

[0016] Specifically, by accurately calculating the difference between the gf combined observation values ​​of the satellite navigation system in the current epoch and the previous epoch, and using the common-view satellite data to reduce redundancy and improve computational efficiency, not only the accuracy and real-time performance of cycle slip identification are significantly improved, but also the robustness of the system to noise and interference is enhanced. At the same time, this method can effectively evaluate the reliability of cycle slip detection results based on the comparison of the number of cycle slips and the number of common-view satellites, thereby optimizing resource utilization and supporting subsequent data processing and decision-making.

[0017] Based on the above technical solution, the present invention can also be improved as follows.

[0018] Furthermore, the method for determining the number of all the common-view stars includes:

[0019] Based on the original observation data of the satellite navigation system at the current epoch and the historical observation data at the previous epoch, the number of all common-view stars between the current epoch and the previous epoch is determined.

[0020] The beneficial effects of adopting the above further scheme are: the number of common-view stars between the current epoch and the previous epoch can be accurately determined, ensuring the validity of the data used in the cycle slip detection process, reducing misjudgments caused by errors in the statistics of the number of common-view stars, thereby improving the overall positioning accuracy and reliability.

[0021] Further, determining the number of cycle slips of the satellite navigation system in the current epoch based on the difference of the gf combined observation quantity of each of the common-view stars and the set cycle slip detection threshold includes:

[0022] For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold;

[0023] For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip;

[0024] Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

[0025] The beneficial effect of adopting the above further solution is that it is possible to accurately determine whether the difference in the gf combined observation quantity of each common-view satellite exceeds the set cycle slip detection threshold, thereby accurately identifying the satellite that has a cycle slip.

[0026] Further, determining the cycle slip detection result based on the number of cycle slips in the current epoch and the number of common-view stars includes:

[0027] Determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars;

[0028] If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars;

[0029] Determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections;

[0030] If the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

[0031] The beneficial effect of adopting the above further scheme is that it can accurately determine whether there are false detections in the cycle slip detection. Specifically: determine whether the number of cycle slips in the current epoch is the same as the number of common-view stars, to ensure that possible false detections are preliminarily screened out. When the number of cycle slips is the same as the number of common-view stars, further calculate the standard deviation of the difference in the gf combination observations of each common-view star, and use statistical methods to verify whether these differences are significant. If the standard deviation is less than the set cycle slip detection threshold, all satellites that have cycle slips are confirmed to be cycle slip detection false detections, avoiding the problem of increased positioning errors due to misjudgment. If the number of cycle slips in the current epoch is different from the number of common-view stars, it is directly determined that the cycle slip detection of all satellites that have cycle slips is normal, reducing unnecessary consumption of computing resources. Thereby reducing the operating resources for cycle slip repair, ambiguity reinitialization, etc., which can be directly used for subsequent RTK positioning.

[0032] In a second aspect, the present application provides a virtual observation cycle slip identification device, which adopts the following technical solution:

[0033] A virtual observation cycle slip identification device, comprising:

[0034] An acquisition module, used to acquire original observation data of the satellite navigation system at the current epoch, wherein the original observation data includes signal information of each satellite in the satellite navigation system, and each of the signal information includes signals of multiple frequencies;

[0035] A first calculation module, used for calculating the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch;

[0036] A second calculation module is used to calculate the difference of the gf combined observation amount of each common-view star based on the historical gf combined observation value of each satellite of the satellite navigation system in the previous epoch and the current gf combined observation value of each satellite, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each common-view star represents a satellite observed in both the current epoch and the previous epoch;

[0037] a cycle slip number determination module, configured to determine the number of cycle slips of the satellite navigation system at the current epoch based on the gf combined observation quantity difference of each of the common view stars and a set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips;

[0038] The cycle slip detection result determination module is used to determine the cycle slip detection result based on the number of cycle slips in the current epoch and the number of all the common-view satellites, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or all satellites with cycle slips have normal cycle slip detections.

[0039] Furthermore, the device also includes:

[0040] The common-view star number determination module is used to determine the number of all common-view stars between the current epoch and the previous epoch based on the original observation data of the satellite navigation system in the current epoch and the historical observation data in the previous epoch.

[0041] Further, the cycle slip number determination module is specifically used to:

[0042] For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold;

[0043] For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip;

[0044] Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

[0045] Further, the cycle slip detection result determination module is specifically used to:

[0046] Determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars;

[0047] If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars;

[0048] Determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections;

[0049] If the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

[0050] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0051] An electronic device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the virtual observation cycle slip identification method described in any one of the first aspects.

[0052] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0053] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the virtual observation cycle slip identification method described in any one of the first aspects.

[0054] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of a method for identifying a cycle slip of a virtual observation provided by an embodiment of the present invention;

[0056] Figure 2 A schematic flow chart of another virtual observation cycle slip identification method provided by an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the structure of a virtual observation cycle slip identification device provided by one embodiment of the present invention;

[0058] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0061] An embodiment of the present application provides a method for identifying a virtual observation cycle slip, which can be executed by an electronic device, and the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services, but is not limited to this.

[0062] like Figure 1 As shown, a virtual observation cycle slip identification method mainly includes steps S1 to S5:

[0063] Step S1, obtaining original observation data of a satellite navigation system at a current epoch, wherein the original observation data includes signal information of each satellite in the satellite navigation system, and each of the signal information includes signals of multiple frequencies;

[0064] In the embodiments of the present application, it is applicable to the joint use scenarios of multiple satellite systems, such as GPS, GLONASS, Galileo, BeiDou, etc.

[0065] Signal information can be obtained through receivers of satellite systems such as GPS, GLONASS, Galileo, BeiDou, etc. For example, for the GPS system, signal information of the L1 and L2 frequency bands can be obtained; for the Galileo system, signal information of the E1 and E5a frequency bands can be obtained.

[0066] Step S2, calculating the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch;

[0067] In the embodiment of the present application, the gf combined observation value is calculated by a specific formula, aiming to eliminate the influence of ionospheric delay.

[0068] Step S3, calculating the gf combined observation value difference of each common-view star based on the historical gf combined observation value of each satellite in the previous epoch of the satellite navigation system and the current gf combined observation value of each satellite, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each common-view star represents a satellite observed in both the current epoch and the previous epoch;

[0069] In the embodiment of the present application, for example, if within a time window, a total of 5 satellites can be observed in two epochs, then it is necessary to calculate the difference in the gf combined observation quantities of these 5 satellites.

[0070] Specifically, the method for determining the number of all common-view stars includes:

[0071] Based on the original observation data of the satellite navigation system at the current epoch and the historical observation data at the previous epoch, the number of common-view stars between the current epoch and the previous epoch is determined.

[0072] In the embodiment of the present application, for each common-view star, the difference between the GF combined observation value of the current epoch and the GF combined observation value of the previous epoch is calculated. This difference reflects the change of the GF combined observation value between the two epochs.

[0073] Step S4, determining the number of cycle slips of the satellite navigation system in the current epoch based on the gf combined observation quantity difference of each of the common-view stars and the set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips;

[0074] In an embodiment of the present application, determining the number of cycle slips of the satellite navigation system at the current epoch based on the difference of the gf combined observation amount of each of the common-view stars and the set cycle slip detection threshold includes:

[0075] For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold;

[0076] For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip;

[0077] Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

[0078] In the embodiments of the present application, the threshold is usually determined based on experience or experimental data.

[0079] For example, assuming that the cycle slip detection threshold is 0.5 meters, if the difference in the gf combined observation value of a common-view star is 0.6 meters, it is determined that the common-view star has a cycle slip and is marked as a satellite with a cycle slip. The number of all satellites marked as having a cycle slip is counted, and this number is the number of cycle slips of the satellite navigation system in the current epoch.

[0080] Optionally, the cycle slip detection threshold can also introduce an adaptive adjustment mechanism to automatically adjust the cycle slip detection threshold based on historical observation data. Specifically, during each cycle slip detection process, the distribution of the difference values ​​of the gf combination observations over a period of time can be counted to dynamically adjust the cycle slip detection threshold. For example, if most of the gf combination observation difference values ​​fluctuate around 0.3 meters in the past 10 minutes, the cycle slip detection threshold can be appropriately lowered to 0.4 meters to improve sensitivity.

[0081] Step S5, based on the number of cycle slips in the current epoch and the number of all the common-view satellites, determine the cycle slip detection result, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or all satellites with cycle slips are cycle slip detection normal.

[0082] In an embodiment of the present application, determining the cycle slip detection result based on the number of cycle slips in the current epoch and the number of common-view stars includes:

[0083] First, determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars;

[0084] If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars;

[0085] The calculation formula for standard deviation is:

[0086] in

[0087] Among them, σ BDS represents the Beidou satellite navigation system, n represents the number of common-view satellites, represents the GF combined observation difference of the i-th common-view star, and μ represents the average value of the GF combined observation difference of all common-view stars.

[0088] Secondly, determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections;

[0089] In the embodiment of the present application, if the standard deviation is less than the set cycle slip detection threshold, it may mean that the difference between the GF combination observation value differences of all common-view satellites is small, which may be due to some systematic error or interference. Therefore, in this case, it can be determined that all satellites with cycle slips are cycle slip detection false detections.

[0090] If the standard deviation is greater than or equal to the set cycle slip detection threshold, it may mean that the differences between the GF combination observation values ​​of each common-view satellite are large, which is more consistent with the actual situation that some satellites have cycle slips while some satellites do not.

[0091] Finally, if the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

[0092] For example, if there are 5 common-view satellites in the current epoch, and all of these 5 common-view satellites are judged to have cycle slips, the standard deviation of the difference in the gf combination observations of these 5 satellites is further calculated. If the standard deviation is 0.3 meters (assuming that the cycle slip detection threshold is still 0.5 meters), all satellites that have cycle slips are considered to have cycle slip detection false detections.

[0093] This method effectively identifies the misjudgment of cycle slips in virtual observations by calculating the difference of gf combined observations between adjacent epochs and combining it with the cycle slip detection threshold. The occurrence of cycle slips will cause the ambiguity to be unable to be fixed, and the larger the cycle slip that occurs, the longer it takes to re-fix the ambiguity; and due to the inability to fix the ambiguity and the direct influence of the cycle slip, the positioning error will increase significantly. Therefore, eliminating the misjudged cycle slip detection can effectively maintain the fixed ambiguity and thus improve the overall positioning accuracy.

[0094] The above method is illustrated below using the B1I and B3I frequencies of the BeiDou system as an example.

[0095] like Figure 2 As shown, first, the virtual observations of the Dou satellite at the first epoch and the second epoch are obtained through the network RTK (Real-Time Kinematic) provider;

[0096] Calculate the B1I and B3Igf combined observation values ​​of the BeiDou satellite in the first epoch. In the first epoch, for each satellite in the BeiDou system, calculate its gf combined observation value at the B1I and B3I frequency points respectively;

[0097] In the second epoch (the epoch of the next time interval adjacent to the first epoch), repeat the above steps to calculate the gf combined observation value of each Beidou satellite at the B1I and B3I frequency points;

[0098] Secondly, for each common-view star that can be observed between the two epochs, the difference in the gf combined observation value between the two epochs is calculated.

[0099] Afterwards, the difference of the GF combined observations of each common-view satellite is compared with the preset cycle slip detection threshold. If the difference is greater than the threshold, it is considered that the satellite has a cycle slip in the second epoch, and the number of satellites with cycle slips n is recorded.

[0100] After that, the number of cycle slips is compared with the number of common-view stars. If n is not equal to the total number of common-view stars, that is, not all common-view stars have cycle slips, the cycle slip detection result is considered normal.

[0101] If n is equal to the total number of common-view stars, that is, all common-view stars are judged to have cycle slips, further analysis is required.

[0102] Afterwards, when all common-view stars are judged to have cycle slips, the standard deviations between the differences in the GF combination observations of these common-view stars are calculated;

[0103] Finally, if the standard deviation is less than the preset cycle slip detection threshold, all the determined cycle slips are considered to be misjudgments, and no subsequent cycle slip repair, ambiguity reinitialization and other operations are required, and they can be directly used for subsequent RTK positioning.

[0104] Figure 3 A schematic structural diagram of a virtual observation cycle slip identification device 200 is shown.

[0105] like Figure 3 As shown, a virtual observation cycle slip identification device 200 mainly includes:

[0106] An acquisition module 201 is used to acquire original observation data of a satellite navigation system at a current epoch, wherein the original observation data includes signal information of each satellite in the satellite navigation system, and each signal information includes signals of multiple frequencies;

[0107] A first calculation module 202 is used to calculate the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch;

[0108] A second calculation module 203 is used to calculate the difference of the gf combined observation value of each common-view star based on the historical gf combined observation value of each satellite of the satellite navigation system in the previous epoch and the current gf combined observation value of each satellite, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each common-view star represents a satellite observed in both the current epoch and the previous epoch;

[0109] A cycle slip number determination module 204 is used to determine the number of cycle slips of the satellite navigation system in the current epoch based on the gf combined observation quantity difference of each of the common-view stars and the set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips;

[0110] The cycle slip detection result determination module 205 is used to determine the cycle slip detection result based on the number of cycle slips in the current epoch and the number of all the common-view satellites, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or all satellites with cycle slips have normal cycle slip detections.

[0111] Optionally, the device further comprises:

[0112] The common-view star number determination module is used to determine the number of common-view stars between the current epoch and the previous epoch based on the original observation data of the satellite navigation system in the current epoch and the historical observation data in the previous epoch.

[0113] Optionally, the cycle slip number determining module 204 is specifically configured to:

[0114] For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold;

[0115] For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip;

[0116] Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

[0117] Optionally, the cycle slip detection result determination module 205 is specifically configured to:

[0118] Determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars;

[0119] If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars;

[0120] Determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections;

[0121] If the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

[0122] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0123] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0124] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0126] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein 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 this application.

[0127] Figure 4 This is a structural block diagram of an electronic device 300 according to an embodiment of the present application.

[0128] like Figure 4 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include one or more of an information input / information output (I / O) interface 303 , a communication component 304 , and a communication bus 305 .

[0129] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned virtual observation volume cycle slip identification method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method used to operate on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (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 I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0131] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0132] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the virtual observation cycle slip identification method given in the above embodiment.

[0133] The computer-readable storage medium provided in an embodiment of the present application is introduced below. The computer-readable storage medium described below and the virtual observation volume cycle slip identification method described above can be referenced to each other.

[0134] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned virtual observation cycle slip identification method are implemented.

[0135] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0136] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0137] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A virtual observation cycle slip identification method, characterized in that: include: Acquire original observation data of the satellite navigation system at the current epoch, the original observation data including signal information of each satellite in the satellite navigation system, each of the signal information including signals of multiple frequencies; Calculating the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch; Calculating a gf combined observation difference of each common-view star based on the historical gf combined observation value of each of the satellites in the previous epoch of the satellite navigation system and the current gf combined observation value of each of the satellites, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each of the common-view stars represents a satellite observed in both the current epoch and the previous epoch; Determine the number of cycle slips of the satellite navigation system at the current epoch based on the gf combined observation quantity difference of each of the common-view stars and a set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips; Based on the number of cycle slips in the current epoch and the number of all the common-view satellites, a cycle slip detection result is determined, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or that the cycle slip detections of all satellites with cycle slips are normal.

2. A method for identifying cycle slips of virtual observation quantities according to claim 1, characterized in that: The method for determining the number of all the common-view stars comprises: Based on the original observation data of the satellite navigation system at the current epoch and the historical observation data at the previous epoch, the number of all common-view stars between the current epoch and the previous epoch is determined.

3. A method for identifying cycle slips of virtual observation quantity according to claim 1, characterized in that: The step of determining the number of cycle slips of the satellite navigation system at the current epoch based on the difference of the gf combined observation amount of each of the common-view stars and a set cycle slip detection threshold comprises: For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold; For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip; Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

4. A method for identifying cycle slips of virtual observation quantity according to claim 1, characterized in that: The determining of the cycle slip detection result based on the number of cycle slips in the current epoch and the number of common-view stars includes: Determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars; If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars; Determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections; If the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

5. A virtual observation cycle slip identification device, characterized in that: include: An acquisition module, used to acquire original observation data of the satellite navigation system at the current epoch, wherein the original observation data includes signal information of each satellite in the satellite navigation system, and each of the signal information includes signals of multiple frequencies; A first calculation module, used for calculating the current gf combined observation value of each of the satellites based on the original observation data of the satellite navigation system at the current epoch; A second calculation module is used to calculate the difference of the gf combined observation amount of each common-view star based on the historical gf combined observation value of each satellite of the satellite navigation system in the previous epoch and the current gf combined observation value of each satellite, wherein the previous epoch is a historical epoch adjacent to the current epoch, and each common-view star represents a satellite observed in both the current epoch and the previous epoch; a cycle slip number determination module, configured to determine the number of cycle slips of the satellite navigation system at the current epoch based on the gf combined observation quantity difference of each of the common view stars and a set cycle slip detection threshold, wherein the number of cycle slips represents the number of satellites in the satellite navigation system that have cycle slips; The cycle slip detection result determination module is used to determine the cycle slip detection result based on the number of cycle slips in the current epoch and the number of all the common-view satellites, wherein the cycle slip detection result is that all satellites with cycle slips are cycle slip detection false detections or all satellites with cycle slips have normal cycle slip detections.

6. A virtual observation cycle slip identification device according to claim 5, characterized in that: The device also includes: The common-view star number determination module is used to determine the number of all common-view stars between the current epoch and the previous epoch based on the original observation data of the satellite navigation system in the current epoch and the historical observation data in the previous epoch.

7. A virtual observation cycle slip identification device according to claim 5, characterized in that: The cycle slip quantity determination module is specifically used for: For each of the common-view stars, determining whether the difference of the gf combined observation quantity of the common-view star is greater than a set cycle slip detection threshold; For each of the common-view stars, if the gf combined observation quantity difference of the common-view star is greater than a set cycle slip detection threshold, the common-view star is determined to be a satellite that has a cycle slip; Based on each of the common-view stars that experience cycle slips, the number of cycle slips of the satellite navigation system in the current epoch is determined.

8. A virtual observation cycle slip identification device according to claim 5, characterized in that: The cycle slip detection result determination module is specifically used to: Determining whether the number of cycle slips of the current epoch is the same as the number of all the common-view stars; If the number of cycle slips of the current epoch is the same as the number of all the common-view stars, then calculating the standard deviation based on the difference in gf combined observations of each of the common-view stars; Determining whether the standard deviation is less than a set cycle slip detection threshold, if the standard deviation is less than the set cycle slip detection threshold, determining that all satellites with cycle slips are cycle slip detection false detections; If the number of cycle slips in the current epoch is different from the number of all the common-view satellites, it is determined that the cycle slip detection of all satellites that have cycle slips is normal.

9. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, and when the computer program or the instruction is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 4.

Images