Cycle slip detection method, device and equipment of low-orbit navigation enhanced carrier observation value

Abstract

The invention relates to the technical field of satellite navigation, in particular to a cycle slip detection method, device and equipment for a low-orbit navigation enhanced carrier observation value, and the method comprises the steps: constructing a first target cycle slip detection quantity and a second target cycle slip detection quantity based on a low-orbit satellite carrier phase observation value, and determining a cycle slip detection threshold value according to a low-orbit satellite high angle, and performing cycle slip detection on the low-orbit satellite carrier phase observation value according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and a cycle slip detection threshold value to obtain a cycle slip detection result, and performing cycle slip marking on the low-orbit satellite carrier phase observation value according to the cycle slip detection result to obtain a cycle slip detection condition. Therefore, the problems of a large amount of misjudgment on the cycle slip of the low-orbit carrier observation value caused by the change of the ionosphere error in the carrier observation value in a short time and the like are solved, two cycle slip detection quantities are given based on the characteristic of rapid change of the ionosphere error, and the cycle slip detection threshold is determined in combination with the satellite height angle. Therefore, the low-orbit carrier cycle slip phenomenon can be accurately detected.

Description

Technical Field

[0001] This application relates to the technical field of satellite navigation, and particularly relates to a method, device, and equipment for detecting cycle slips of low-earth orbit navigation enhanced carrier observations. Background Art

[0002] In recent years, scholars at home and abroad have proposed to enhance the service performance of the medium and high-earth orbit GNSS (Global Navigation Satellite System) system by simultaneously transmitting navigation enhancement signals and navigation enhancement information through LEO (Low Earth Orbit) satellites, that is, the low-earth orbit navigation enhancement technology and a large number of studies have been carried out. Compared with medium and high-earth orbit navigation satellites, the signal landing power of low-earth orbit satellites is about 1000 times higher, and the geometric change of the ground motion is about 30 times faster, which has very obvious advantages in terms of signal strength, anti-interference, and accelerating positioning convergence. Given the potential of the low-earth orbit navigation enhancement technology, low-earth orbit navigation enhancement has been included in the national PNT system, and at the same time, on-orbit tests of low-earth orbit enhancement have also been carried out.

[0003] In related technologies, before ground users receive low-earth orbit downlink navigation enhancement signals for precise point positioning, the accurate detection of cycle slips in carrier phase observations is a particularly critical preprocessing process. For GNSS satellite signals, the linear geometry-free combination (LG) of dual-frequency carrier phase observations is commonly used as the detection quantity for cycle slip detection.

[0004] However, given the high operating speed of low-earth orbit satellites, the ionospheric error in carrier observations will change greatly in a short time. Using the LG epoch-by-epoch difference method commonly used in existing GNSS data processing algorithms cannot completely eliminate the influence of ionospheric residuals, which will cause a large number of misjudgments of cycle slips in low-earth orbit carrier observations and urgently need to be solved. Summary of the Invention

[0005] This application provides a method, device, and equipment for detecting cycle slips of low-earth orbit navigation enhanced carrier observations to solve problems such as a large number of misjudgments of cycle slips in low-earth orbit carrier observations caused by the change of ionospheric error in carrier observations in a short time.

[0006] The first aspect of the embodiments of this application provides a method for detecting cycle slips of low-earth orbit navigation enhanced carrier observations, including the following steps:

[0007] Obtain the carrier phase observations of low-earth orbit satellites, and construct a first target cycle slip detection quantity and a second target cycle slip detection quantity of the carrier phase observations of low-earth orbit satellites based on the carrier phase observations of low-earth orbit satellites;

[0008] Determine the high angle of the low-earth orbit satellite, determine the cycle slip detection threshold of the carrier phase observation value of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite;

[0009] Perform cycle slip marking on the carrier phase observation value of the low-earth orbit satellite according to the cycle slip detection result, so as to obtain the cycle slip detection situation of the carrier phase observation value of the low-earth orbit satellite according to the marking result.

[0010] According to an embodiment of the present application, the constructing the first target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the carrier phase observation value of the low-earth orbit satellite includes:

[0011] Calculate the dual-frequency carrier combination value of the current epoch according to the carrier phase observation value of the low-earth orbit satellite;

[0012] Obtain the dual-frequency carrier combination value of the first historical epoch and the dual-frequency carrier combination value of the second historical epoch;

[0013] Obtain the first target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the dual-frequency carrier combination value of the first historical epoch, the dual-frequency carrier combination value of the second historical epoch and the dual-frequency carrier combination value of the current epoch.

[0014] According to an embodiment of the present application, the constructing the second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the carrier phase observation value of the low-earth orbit satellite includes:

[0015] Calculate the epoch first difference value of the non-geometric combination value based on the difference between the dual-frequency carrier combination value of the current epoch and the dual-frequency carrier combination value of the first historical epoch;

[0016] Calculate the epoch first difference value of the ionospheric error inter-frequency difference based on a preset prior ionospheric model;

[0017] Obtain the second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the epoch first difference value of the non-geometric combination value and the epoch first difference value of the ionospheric error inter-frequency difference.

[0018] According to an embodiment of the present application, the performing cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite includes:

[0019] Judge whether the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold;

[0020] If the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold and whether the second target cycle slip detection quantity is greater than the cycle slip detection threshold;

[0021] If the first target cycle slip detection quantity is greater than the cycle slip detection threshold and the second target cycle slip detection quantity is greater than the cycle slip detection threshold, it is determined that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite.

[0022] According to an embodiment of the present application, after determining whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, it further includes:

[0023] If the high angle of the low-earth orbit satellite is less than the preset angle threshold, determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold;

[0024] If the first target cycle slip detection quantity is greater than the cycle slip detection threshold, it is determined that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite.

[0025] According to the cycle slip detection method for low-earth orbit navigation enhanced carrier observation values in the embodiments of the present application, a first target cycle slip detection quantity and a second target cycle slip detection quantity are constructed based on the carrier phase observation values of the low-earth orbit satellite, the cycle slip detection threshold is determined according to the high angle of the low-earth orbit satellite, and the carrier phase observation values of the low-earth orbit satellite are subjected to cycle slip detection according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain a cycle slip detection result, so as to perform cycle slip marking on the carrier phase observation values of the low-earth orbit satellite according to the cycle slip detection result to obtain the cycle slip detection situation. Thereby, problems such as a large number of misjudgments of cycle slips in low-earth orbit carrier observation values caused by large changes in ionospheric errors in carrier observation values in a short period of time are solved. Two cycle slip detection quantities are given based on the characteristics of rapid changes in ionospheric errors, and the cycle slip detection threshold is determined in combination with the satellite high angle, so as to accurately detect the cycle slip phenomenon of low-earth orbit carriers.

[0026] An embodiment of the second aspect of the present application provides a cycle slip detection device for low-earth orbit navigation enhanced carrier observation values, including:

[0027] A construction module, configured to obtain the carrier phase observation values of the low-earth orbit satellite and construct a first target cycle slip detection quantity and a second target cycle slip detection quantity of the carrier phase observation values of the low-earth orbit satellite based on the carrier phase observation values of the low-earth orbit satellite;

[0028] A detection module, configured to determine the high angle of a low-earth orbit satellite, determine a cycle slip detection threshold of the carrier phase observation value of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity, and the cycle slip detection threshold, so as to obtain a cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite;

[0029] A marking module, configured to perform cycle slip marking on the carrier phase observation value of the low-earth orbit satellite according to the cycle slip detection result, so as to obtain the cycle slip detection situation of the carrier phase observation value of the low-earth orbit satellite according to the marking result.

[0030] According to an embodiment of the present application, the construction module includes:

[0031] A first calculation unit, configured to calculate a dual-frequency carrier combination value of the current epoch according to the carrier phase observation value of the low-earth orbit satellite;

[0032] A first acquisition unit, configured to acquire the dual-frequency carrier combination value of the first historical epoch and the dual-frequency carrier combination value of the second historical epoch;

[0033] A second acquisition unit, configured to obtain a first target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the dual-frequency carrier combination value of the first historical epoch, the dual-frequency carrier combination value of the second historical epoch, and the dual-frequency carrier combination value of the current epoch.

[0034] According to an embodiment of the present application, the construction module includes:

[0035] A second calculation unit, configured to calculate a first difference value of the epoch of the non-geometric combination value based on the difference between the dual-frequency carrier combination value of the current epoch and the dual-frequency carrier combination value of the first historical epoch;

[0036] A third calculation unit, configured to calculate a first difference value of the epoch of the inter-frequency difference of the ionospheric error based on a preset prior ionospheric model;

[0037] A third acquisition unit, configured to obtain a second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the first difference value of the epoch of the non-geometric combination value and the first difference value of the epoch of the inter-frequency difference of the ionospheric error.

[0038] According to an embodiment of the present application, the detection module includes:

[0039] A first judgment unit, configured to judge whether the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold;

[0040] A second determination unit, configured to determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold and whether the second target cycle slip detection quantity is greater than the cycle slip detection threshold if the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold;

[0041] A determination unit, configured to determine that a cycle slip occurs in the carrier phase observation value of the low-earth orbit satellite if the first target cycle slip detection quantity is greater than the cycle slip detection threshold and the second target cycle slip detection quantity is greater than the cycle slip detection threshold.

[0042] According to an embodiment of the present application, after determining whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, the first determination unit further includes:

[0043] A judgment subunit, configured to judge whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold if the high angle of the low-earth orbit satellite is less than the preset angle threshold;

[0044] A determination subunit, configured to determine that a cycle slip occurs in the carrier phase observation value of the low-earth orbit satellite if the first target cycle slip detection quantity is greater than the cycle slip detection threshold.

[0045] The cycle slip detection device for low-orbit navigation enhanced carrier observations according to the embodiment of the present application constructs a first target cycle slip detection quantity and a second target cycle slip detection quantity based on the carrier phase observation value of the low-earth orbit satellite, determines the cycle slip detection threshold according to the high angle of the low-earth orbit satellite, and performs cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold, and obtains a cycle slip detection result, so as to perform cycle slip marking on the carrier phase observation value of the low-earth orbit satellite according to the cycle slip detection result, and obtain a cycle slip detection situation. Thus, problems such as a large number of misjudgments of cycle slips of low-orbit carrier observations caused by large changes in ionospheric errors in carrier observations in a short time are solved. Two cycle slip detection quantities are given based on the characteristics of rapid changes in ionospheric errors, and the cycle slip detection threshold is determined in combination with the satellite high angle, so as to accurately detect the cycle slip phenomenon of low-orbit carriers.

[0046] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the cycle slip detection method for low-orbit navigation enhanced carrier observations as described in the above embodiment.

[0047] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the cycle slip detection method for low-orbit navigation enhanced carrier observations as described in the above embodiment.

[0048] An embodiment of the fifth aspect of the present application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the cycle slip detection method for low-earth orbit navigation enhanced carrier observations as described in the above embodiments.

[0049] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Brief Description of the Drawings

[0050] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0051] Figure 1 FIG. is a flowchart of a cycle slip detection method for low-earth orbit navigation enhanced carrier observations provided according to an embodiment of the present application;

[0052] Figure 2 FIG. is a schematic diagram of the overall process of a cycle slip detection method for low-earth orbit navigation enhanced carrier observations according to an embodiment of the present application;

[0053] Figure 3 FIG. is a schematic diagram of the structure of a cycle slip detection system for low-earth orbit navigation enhanced carrier observations according to an embodiment of the present application;

[0054] Figure 4 FIG. is an example diagram of a cycle slip detection device for low-earth orbit navigation enhanced carrier observations according to an embodiment of the present application;

[0055] Figure 5 FIG. is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Detailed Description of the Embodiments

[0056] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0057] The method, device, and equipment for detecting cycle slips of low-orbit navigation enhanced carrier observations according to the embodiments of the present application will be described below with reference to the accompanying drawings. Aiming at the problem of a large number of misjudgments of cycle slips of low-orbit carrier observations caused by the short-term change of the ionospheric error in the carrier observations, the present application provides a method for detecting cycle slips of low-orbit navigation enhanced carrier observations. In this method, a first target cycle slip detection quantity and a second target cycle slip detection quantity of the low-orbit satellite carrier phase observations are constructed based on the low-orbit satellite carrier phase observations, a cycle slip detection threshold is determined according to the high angle of the low-orbit satellite, and cycle slip detection is performed on the low-orbit satellite carrier phase observations according to the first target cycle slip detection quantity, the second target cycle slip detection quantity, and the cycle slip detection threshold to obtain a cycle slip detection result, so as to perform cycle slip marking on the low-orbit satellite carrier phase observations according to the cycle slip detection result to obtain the cycle slip detection situation. Thereby, the problems of a large number of misjudgments of cycle slips of low-orbit carrier observations caused by the large change of the ionospheric error in the carrier observations in a short time are solved. Two cycle slip detection quantities are given based on the characteristics of the rapid change of the ionospheric error, and the cycle slip detection threshold is determined in combination with the high angle of the satellite, so as to accurately detect the cycle slip phenomenon of the low-orbit carrier.

[0058] Specifically, Figure 1 FIG. is a schematic flowchart of a method for detecting cycle slips of low-orbit navigation enhanced carrier observations provided by an embodiment of the present application.

[0059] As Figure 1 shown, the method for detecting cycle slips of low-orbit navigation enhanced carrier observations includes the following steps:

[0060] In step S101, low-orbit satellite carrier phase observations are obtained, and a first target cycle slip detection quantity and a second target cycle slip detection quantity of the low-orbit satellite carrier phase observations are constructed based on the low-orbit satellite carrier phase observations.

[0061] According to an embodiment of the present application, constructing a first target cycle slip detection quantity of the low-orbit satellite carrier phase observations based on the low-orbit satellite carrier phase observations includes: calculating a current epoch dual-frequency carrier combination value according to the low-orbit satellite carrier phase observations; obtaining the epoch dual-frequency carrier combination value of the first historical moment and the epoch dual-frequency carrier combination value of the second historical moment; and obtaining a first target cycle slip detection quantity of the low-orbit satellite carrier phase observations according to the epoch dual-frequency carrier combination value of the first historical moment, the epoch dual-frequency carrier combination value of the second historical moment, and the current epoch dual-frequency carrier combination value.

[0062] According to an embodiment of the present application, constructing a second target cycle slip detection quantity of the low-orbit satellite carrier phase observation value based on the low-orbit satellite carrier phase observation value includes: calculating the epoch first difference value of the non-geometric combined value based on the difference between the current epoch dual-frequency carrier combined value and the epoch dual-frequency carrier combined value at the first historical moment; calculating the epoch first difference value of the inter-frequency difference of the ionospheric error based on a preset prior ionospheric model; and obtaining the second target cycle slip detection quantity of the low-orbit satellite carrier phase observation value according to the epoch first difference value of the non-geometric combined value and the epoch first difference value of the inter-frequency difference of the ionospheric error.

[0063] Specifically, based on the characteristic of the rapid change of the ionospheric error, the embodiments of the present application give two cycle slip detection quantities, combine the epoch second difference of the dual-frequency LG combination with the ionospheric compensation first difference to solve the problem of cycle slip detection caused by the high-speed movement of low-orbit satellites, and combine the high angle of the satellite to determine the cycle slip detection threshold, thereby breaking through the limitation of the fixed cycle slip detection threshold and realizing the adaptive detection of low-orbit satellites in high and low elevation angle scenarios.

[0064] Specifically, as Figure 2 and Figure 3 shown, the low-orbit satellite carrier phase observation value is obtained by the low-orbit observation data acquisition unit 301 (such as a ground receiver) of the ground station. Among them, the low-orbit observation data acquisition unit 301 can also obtain GNSS raw observation data and LEO raw observation data at the same time. The received GNSS raw observation data and LEO raw observation data at least include carrier phase observation values and pseudorange observation values. In addition, the low-orbit observation data acquisition unit 301 can also receive Doppler observation values, signal carrier-to-noise ratio, etc., which are not specifically limited here; then, using the carrier observation value cycle slip detection quantity construction unit 302, based on the low-orbit satellite carrier phase observation value, the first target cycle slip detection quantity of the low-orbit satellite carrier phase observation value (i.e., the epoch second difference value ddLG t ) and the second target cycle slip detection quantity (i.e., the epoch first difference value of the LG combined value considering the ionospheric change ) are constructed. Through the collaborative detection of the first target cycle slip detection quantity and the second target cycle slip detection quantity, the detection accuracy of the low-orbit satellite carrier phase observation value is improved.

[0065] Further, in the process of constructing the first target cycle slip detection quantity and the second target cycle slip detection quantity, first, calculate the current epoch dual-frequency carrier combined value LG t according to the low-orbit satellite carrier phase observation value, and its formula can be expressed as:

[0066] LG t = L1 - L2;

[0067] Among them, L1 is the carrier phase observation value of the first frequency (unit: meter), and L2 is the carrier phase observation value of the second frequency (unit: meter).

[0068] Secondly, obtain the epoch dual-frequency carrier combination value LG at the first historical moment t-1 (for example, the dual-frequency carrier combination value LG at the previous epoch t-1 ) and the epoch dual-frequency carrier combination value LG at the second historical moment t-2 (for example, the dual-frequency carrier combination value LG at the epoch before the previous one t-2 ), so that the first target cycle slip detection quantity ddLG of the LEO satellite carrier phase observation value can be obtained according to the epoch dual-frequency carrier combination value LG at the first historical moment t-1 , the epoch dual-frequency carrier combination value LG at the second historical moment t-2 and the current epoch dual-frequency carrier combination value LG t , that is to say, it can be calculated according to the stored dual-frequency carrier combination value LG at the previous epoch t , the dual-frequency carrier combination value LG at the epoch before the previous one t-1 and the current epoch dual-frequency carrier combination value LG t-2 , and then the epoch second difference value ddLG of the dual-frequency carrier observation value LG combination can be obtained t , and its formula can be expressed as: t ddLG

[0069] ddLG t =(LG t -LG t-1 )-(LG t-1 -LG t-2 )

[0070] Among them, LG is a geometric property-free combination value composed of dual-frequency carrier phase observation values, the subscript t represents different epoch moments, LG t is the current epoch dual-frequency carrier combination value, LG t-1 is the dual-frequency carrier combination value at the previous epoch, LG t-2 is the dual-frequency carrier combination value at the epoch before the previous one. Among them, the calculation of LG can be derived from the original LEO carrier phase observation value equation of the ground receiver. For the LEO satellite carrier phase observation value, there is the following observation equation:

[0071]

[0072] Among them, L is the LEO satellite carrier phase observation value (unit: meter), r is the ground receiver number, s is the LEO satellite number, j is the frequency number, is the satellite-to-ground distance, δdt r is the receiver clock error, δdt s is the satellite clock error, is the ionospheric error, is the tropospheric error, λ j is the wavelength of frequency j, b r,j is the phase hardware delay at the receiver end, is the phase hardware delay at the satellite end, is the carrier phase ambiguity, is the sum of the carrier phase observation value noise, multipath effect, and other unmodeled errors. Thus, the above-mentioned dual-frequency carrier combined value LG at the current epoch can be obtained, and its formula can be further expressed as:

[0073] LG = L1 - L2 = (Ion2 - Ion1) + (λ1N1 - λ2N2) + (λ1B1 - λ2B2) + (ξ1 - ξ2)

[0074] where Ion2 is the ionospheric error value at the second frequency (unit: meter), Ion1 is the ionospheric error value at the first frequency (unit: meter), λ1 is the wavelength of the first frequency, λ2 is the wavelength of the second frequency, N1 is the phase ambiguity at the first frequency (unit: cycle), N2 is the phase ambiguity at the second frequency (unit: cycle), B1 is the combined value of the phase hardware delays at the receiver and satellite ends at the first frequency (i.e., ), B2 is the combined value of the phase hardware delays at the receiver and satellite ends at the second frequency (i.e., ), ξ1 is the sum of the carrier phase observation value noise, multipath effect, and other unmodeled errors at the first frequency, and ξ2 is the sum of the carrier phase observation value noise, multipath effect, and other unmodeled errors at the second frequency.

[0075] It can be seen from this that the above combination eliminates the errors of the satellite-ground distance, satellite-end and receiver-end clock biases, and is only affected by partial ionosphere, ambiguity, phase hardware delay, and observation noise. For GNSS satellites, it is generally considered that the change amount of the ionospheric error (i.e., Ion2 - Ion1) in a short time can be ignored, and the ambiguity can be regarded as a constant and does not change with time without cycle slips; for low-earth orbit satellites, due to their high operating speed, the ionospheric error will change greatly in a short time, and only using the epoch first difference cannot completely eliminate the influence of the ionospheric residual in the low-earth orbit carrier observation value LG combined value. Therefore, the epoch second difference calculation is performed on the LG combined value.

[0076] Furthermore, based on the above-obtained dual-frequency carrier combined value LG at the current epoch t and the dual-frequency carrier combined value LG at the first historical moment t-1 , the epoch first difference value of the geometry-free combined value is calculated according to their difference, that is, the calculation of the epoch first difference value of LG, and its formula can be expressed as:

[0077] dLG t = LGt -LG t-1

[0078] Then, calculate the epoch first difference value of the inter-frequency difference of the ionospheric error based on a preset prior ionospheric model, and its formula can be expressed as:

[0079] dIon t =(Ion2 - Ion1) t -(Ion2 - Ion1) t-1

[0080] where dIon t is the epoch first difference value of the inter-frequency difference of the ionospheric error.

[0081] Specifically, at the current t moment, the ionospheric error on the j frequency of the carrier phase observation value of the low-earth orbit satellite can be expressed as:

[0082] where f j is the frequency of the j-frequency signal, VTEC GIM is the total electron content of the signal vertical path, which can be obtained by bilinear interpolation in the ionospheric grid product of GIM (Global Ionosphere Map) at the IPP (Ionospheric pierce point, signal pierce point) position. M is the ionospheric projection coefficient, which is used to project the total electron content of the signal vertical path to the signal propagation oblique path direction. R is the radius of the earth, taking R = 6371 km, and H ion is the effective height of the ionosphere. In the GIM model, it is assumed that free electrons are concentrated in a single-layer thin shell 450 km away from the earth, so H ion = 450 km, and ele is the satellite elevation angle. It should be noted that due to the low orbit altitude of the low-earth orbit satellite, the low-earth orbit signal received on the ground only passes through the bottom of the ionosphere, while the GIM model is constructed based on the GNSS satellite altitude. Here, the total electron content VBEC h_LEO (Vertical Bottom ElectronContent) and the total electron content VTEC h_GNSS (VerticalTotal Electron Content) of the GNSS satellite orbit altitude can be calculated respectively using models such as IRI-2020 (International Reference Ionosphere) or Nequick, and then the ratio ratio value of the total electron content at the bottom of the low-earth orbit satellite can be obtained. In the above formula, h_LEO is the orbit altitude of the low-earth orbit satellite, and h_GNSS is the orbit altitude of the GNSS satellite.

[0083] Further, based on the epoch first difference value dLG of the non-geometric combination value obtained above t and the epoch first difference value dIon of the inter-frequency difference of the ionization error t perform difference calculation, and obtain the second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the difference thereof Its formula can be expressed as:

[0084]

[0085] In step S102, determine the high angle of the low-earth orbit satellite, determine the cycle slip detection threshold of the carrier phase observation value of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold, so as to obtain the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite.

[0086] According to an embodiment of the present application, performing cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold, and obtaining the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite, includes: judging whether the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold; if the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, then judge whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold, and whether the second target cycle slip detection quantity is greater than the cycle slip detection threshold; if the first target cycle slip detection quantity is greater than the cycle slip detection threshold, and the second target cycle slip detection quantity is greater than the cycle slip detection threshold, then determine that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite.

[0087] According to an embodiment of the present application, after judging whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, it further includes: if the high angle of the low-earth orbit satellite is less than the preset angle threshold, then judge whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold; if the first target cycle slip detection quantity is greater than the cycle slip detection threshold, then determine that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite.

[0088] Wherein, the preset angle threshold can be obtained through finite simulation calculations, or can be set according to actual cycle slip detection requirements, and no specific limitation is made here.

[0089] Specifically, such as Figure 2 and Figure 3As shown, after obtaining the first target cycle slip detection quantity and the second target cycle slip detection quantity, it is necessary to further analyze the first target cycle slip detection quantity and the second target cycle slip detection quantity. First, determine the high angle ele of the low-earth orbit satellite. The high angle ele of the low-earth orbit satellite can be calculated based on the coordinates of the satellite and the ground receiver, or directly output by the GNSS receiver, and specific limitations are not made here. Then, use the cycle slip detection threshold calculation unit 303 to determine the cycle slip detection threshold thres of the carrier phase observation value of the low-earth orbit satellite according to the high angle ele of the low-earth orbit satellite. The specific calculation formula is as follows:

[0090]

[0091] Secondly, use the cycle slip detection unit 304 to perform cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity ddLG t , the second target cycle slip detection quantity and the cycle slip detection threshold thres. Specifically, determine whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold (for example, 15°). If the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, that is, ele≥15°, at this time, further determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold, and whether the second target cycle slip detection quantity is greater than the cycle slip detection threshold. If the first target cycle slip detection quantity is greater than the cycle slip detection threshold, and the second target cycle slip detection quantity is greater than the cycle slip detection threshold, that is, ddLG t >thres and At this time, it is determined that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite. That is to say, under the condition of ele≥15°, if ddLG t >thres, and at the same time Then it is determined that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite.

[0092] Optionally, if the high angle of the low-earth orbit satellite is less than the preset angle threshold, that is, ele<15°, further determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold. If the first target cycle slip detection quantity is greater than the cycle slip detection threshold, that is, ddLG t >thres, at this time, it is determined that a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite. That is to say, under the condition of ele<15°, if ddLG t >thres, then a cycle slip has occurred in the carrier phase observation value of the low-earth orbit satellite. Thus, the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite is obtained.

[0093] It should be noted that considering that the calculation accuracy of the ionospheric error in the second target cycle slip detection quantity is also affected by the projection function, the use range of the second target cycle slip detection quantity is limited to the condition of ele≥15°.

[0094] In step S103, based on the cycle slip detection result, cycle slips of the low-earth orbit satellite carrier phase observations are marked, so as to obtain the cycle slip detection situation of the low-earth orbit satellite carrier phase observations according to the marking result.

[0095] Specifically, by using the cycle slip marking unit 305, based on the above cycle slip detection result, cycle slips of the low-earth orbit satellite carrier phase observations are marked, and the marking result is output. For example, it can be determined according to '1' and '0', and outputting '1' indicates that a cycle slip has occurred in the low-earth orbit satellite carrier phase observation, and outputting '0' indicates that no cycle slip has occurred in the low-earth orbit satellite carrier phase observation. Thus, finally, the cycle slip marking result of the low-earth orbit satellite carrier phase observation can be obtained and output, and at this time, the cycle slip detection situation of the low-earth orbit satellite carrier phase observation can be obtained.

[0096] Therefore, based on the above cycle slip detection and analysis of the low-earth orbit satellite carrier phase observations, this embodiment can adapt to the fast-changing characteristics of the ionospheric error of low-earth orbit satellites, achieve accurate detection of cycle slips of low-earth orbit enhanced carrier observations, and can be conveniently applied to the processing of low-earth orbit enhanced GNSS satellite navigation and positioning data.

[0097] According to the cycle slip detection method for low-earth orbit navigation enhanced carrier observations of an embodiment of the present application, a first target cycle slip detection quantity and a second target cycle slip detection quantity are constructed based on the low-earth orbit satellite carrier phase observations, a cycle slip detection threshold is determined according to the high angle of the low-earth orbit satellite, and cycle slips of the low-earth orbit satellite carrier phase observations are detected according to the first target cycle slip detection quantity, the second target cycle slip detection quantity, and the cycle slip detection threshold to obtain a cycle slip detection result, so as to mark cycle slips of the low-earth orbit satellite carrier phase observations according to the cycle slip detection result to obtain the cycle slip detection situation. Therefore, problems such as a large number of misjudgments of cycle slips of low-earth orbit carrier observations caused by large changes in the ionospheric error in the carrier observations in a short time are solved. Two cycle slip detection quantities are given based on the fast-changing characteristics of the ionospheric error, and the cycle slip detection threshold is determined in combination with the satellite high angle, so as to accurately detect the cycle slip phenomenon of low-earth orbit carriers.

[0098] Next, a cycle slip detection device for low-earth orbit navigation enhanced carrier observations according to an embodiment of the present application is described with reference to the accompanying drawings.

[0099] Figure 4 It is a block diagram of a cycle slip detection device for low-earth orbit navigation enhanced carrier observations according to an embodiment of the present application.

[0100] As Figure 4 shown, the cycle slip detection device 10 for low-earth orbit navigation enhanced carrier observations includes: a construction module 100, a detection module 200, and a marking module 300.

[0101] Among them, the construction module 100 is used to obtain the carrier phase observations of the low-earth orbit satellite and construct a first target cycle slip detection quantity and a second target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite based on the carrier phase observations of the low-earth orbit satellite;

[0102] The detection module 200 is used to determine the high angle of the low-earth orbit satellite, determine the cycle slip detection threshold of the carrier phase observations of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observations of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain the cycle slip detection result of the carrier phase observations of the low-earth orbit satellite;

[0103] The marking module 300 is used to perform cycle slip marking on the carrier phase observations of the low-earth orbit satellite according to the cycle slip detection result, so as to obtain the cycle slip detection situation of the carrier phase observations of the low-earth orbit satellite according to the marking result.

[0104] According to an embodiment of the present application, the construction module 100 includes:

[0105] The first calculation unit is used to calculate the current epoch dual-frequency carrier combination value according to the carrier phase observations of the low-earth orbit satellite;

[0106] The first acquisition unit is used to acquire the epoch dual-frequency carrier combination value at the first historical moment and the epoch dual-frequency carrier combination value at the second historical moment;

[0107] The second acquisition unit is used to obtain the first target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the epoch dual-frequency carrier combination value at the first historical moment, the epoch dual-frequency carrier combination value at the second historical moment and the current epoch dual-frequency carrier combination value.

[0108] According to an embodiment of the present application, the construction module 100 includes:

[0109] The second calculation unit is used to calculate the epoch first difference value of the non-geometric combination value based on the difference between the current epoch dual-frequency carrier combination value and the epoch dual-frequency carrier combination value at the first historical moment;

[0110] The third calculation unit is used to calculate the epoch first difference value of the ionospheric error frequency difference based on a preset prior ionospheric model;

[0111] The third acquisition unit is used to obtain the second target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the epoch first difference value of the non-geometric combination value and the epoch first difference value of the ionospheric error frequency difference.

[0112] According to an embodiment of the present application, the detection module 200 includes:

[0113] The first judgment unit is used to judge whether the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold;

[0114] A second determination unit, configured to determine whether a first target cycle slip detection quantity is greater than a cycle slip detection threshold and whether a second target cycle slip detection quantity is greater than the cycle slip detection threshold if the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold.

[0115] A determination unit, configured to determine that a cycle slip occurs in the carrier phase observation value of the low-earth orbit satellite if the first target cycle slip detection quantity is greater than the cycle slip detection threshold and the second target cycle slip detection quantity is greater than the cycle slip detection threshold.

[0116] According to an embodiment of the present application, after determining whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, the first determination unit further includes:

[0117] A judgment subunit, configured to determine whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold if the high angle of the low-earth orbit satellite is less than the preset angle threshold.

[0118] A determination subunit, configured to determine that a cycle slip occurs in the carrier phase observation value of the low-earth orbit satellite if the first target cycle slip detection quantity is greater than the cycle slip detection threshold.

[0119] The cycle slip detection device for the low-orbit navigation enhanced carrier observation value according to the embodiment of the present application constructs a first target cycle slip detection quantity and a second target cycle slip detection quantity based on the carrier phase observation value of the low-earth orbit satellite, determines the cycle slip detection threshold according to the high angle of the low-earth orbit satellite, and performs cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity, and the cycle slip detection threshold to obtain a cycle slip detection result, so as to perform cycle slip marking on the carrier phase observation value of the low-earth orbit satellite according to the cycle slip detection result to obtain a cycle slip detection situation. Thereby, problems such as a large number of misjudgments of cycle slips in the low-orbit carrier observation value caused by large changes in the ionospheric error in the carrier observation value in a short time are solved. Two cycle slip detection quantities are given based on the characteristics of the rapid change of the ionospheric error, and the cycle slip detection threshold is determined in combination with the satellite high angle, so as to accurately detect the cycle slip phenomenon of the low-orbit carrier.

[0120] Figure 5 The structural schematic diagram of the electronic device provided by the embodiment of the present application. The electronic device may include:

[0121] A memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.

[0122] When the processor 502 executes the program, it implements the cycle slip detection method for the low-orbit navigation enhanced carrier observation value provided in the above embodiment.

[0123] Further, the electronic device further includes:

[0124] A communication interface 503 for communication between the memory 501 and the processor 502.

[0125] A memory 501 for storing a computer program that can run on the processor 502.

[0126] The memory 501 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0127] If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 5 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0128] Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a single chip, the memory 501, the processor 502, and the communication interface 503 can communicate with each other through an internal interface.

[0129] The processor 502 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0130] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above method for detecting cycle slips of low-orbit navigation enhanced carrier observations is implemented.

[0131] The embodiments of the present application also provide a computer program product, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the method for detecting cycle slips of low-orbit navigation enhanced carrier observations in the above embodiments is implemented.

[0132] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0133] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0134] Any process or method description depicted in a flowchart or described in other ways herein can be understood as representing a module, segment, or portion of code including one or more N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application pertain.

[0135] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0136] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0137] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above-described embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0138] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0139] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for detecting cycle slips of low-orbit navigation enhanced carrier observations, characterized in that Including the following steps: Obtain the carrier phase observations of the low-earth orbit satellite, and construct a first target cycle slip detection quantity and a second target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite based on the carrier phase observations of the low-earth orbit satellite; Determine the high angle of the low-earth orbit satellite, determine the cycle slip detection threshold of the carrier phase observations of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observations of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain the cycle slip detection result of the carrier phase observations of the low-earth orbit satellite; Perform cycle slip marking on the carrier phase observations of the low-earth orbit satellite according to the cycle slip detection result, so as to obtain the cycle slip detection situation of the carrier phase observations of the low-earth orbit satellite according to the marking result.

2. The method according to claim 1, characterized in that, The constructing the first target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the carrier phase observations of the low-earth orbit satellite includes: Calculate the dual-frequency carrier combination value of the current epoch according to the carrier phase observations of the low-earth orbit satellite; Obtain the dual-frequency carrier combination value of the epoch at the first historical moment and the dual-frequency carrier combination value of the epoch at the second historical moment; Obtain the first target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the dual-frequency carrier combination value of the epoch at the first historical moment, the dual-frequency carrier combination value of the epoch at the second historical moment and the dual-frequency carrier combination value of the current epoch.

3. The method according to claim 2, wherein The constructing the second target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the carrier phase observations of the low-earth orbit satellite includes: Calculate the epoch first difference value of the non-geometric combination value based on the difference between the dual-frequency carrier combination value of the current epoch and the dual-frequency carrier combination value of the epoch at the first historical moment; Calculate the epoch first difference value of the ionospheric error inter-frequency difference based on a preset prior ionospheric model; Obtain the second target cycle slip detection quantity of the carrier phase observations of the low-earth orbit satellite according to the epoch first difference value of the non-geometric combination value and the epoch first difference value of the ionospheric error inter-frequency difference.

4. The method according to claim 1, wherein The performing cycle slip detection on the carrier phase observations of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity and the cycle slip detection threshold to obtain the cycle slip detection result of the carrier phase observations of the low-earth orbit satellite includes: Judge whether the high angle of the low-earth orbit satellite is greater than or equal to a preset angle threshold; If the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, judge whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold and whether the second target cycle slip detection quantity is greater than the cycle slip detection threshold; If the first target cycle slip detection quantity is greater than the cycle slip detection threshold and the second target cycle slip detection quantity is greater than the cycle slip detection threshold, determine that a cycle slip has occurred in the carrier phase observations of the low-earth orbit satellite.

5. The method according to claim 4, wherein After judging whether the high angle of the low-earth orbit satellite is greater than or equal to the preset angle threshold, it further includes: If the high angle of the low-earth orbit satellite is less than the preset angle threshold, judge whether the first target cycle slip detection quantity is greater than the cycle slip detection threshold; If the first target cycle slip detection quantity is greater than the cycle slip detection threshold, it is determined that a cycle slip occurs in the carrier phase observation value of the low-earth orbit satellite.

6. A cycle slip detection device for low-orbit navigation enhanced carrier observations, characterized in that, Including: A construction module, configured to obtain the carrier phase observation value of the low-earth orbit satellite, and construct a first target cycle slip detection quantity and a second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite based on the carrier phase observation value of the low-earth orbit satellite; A detection module, configured to determine the high angle of the low-earth orbit satellite, determine the cycle slip detection threshold of the carrier phase observation value of the low-earth orbit satellite according to the high angle of the low-earth orbit satellite, and perform cycle slip detection on the carrier phase observation value of the low-earth orbit satellite according to the first target cycle slip detection quantity, the second target cycle slip detection quantity, and the cycle slip detection threshold, to obtain the cycle slip detection result of the carrier phase observation value of the low-earth orbit satellite; A marking module, configured to perform cycle slip marking on the carrier phase observation value of the low-earth orbit satellite according to the cycle slip detection result, so as to obtain the cycle slip detection situation of the carrier phase observation value of the low-earth orbit satellite according to the marking result.

7. The device according to claim 6, characterized in that, The construction module includes: A first calculation unit, configured to calculate the dual-frequency carrier combination value of the current epoch according to the carrier phase observation value of the low-earth orbit satellite; A first acquisition unit, configured to acquire the dual-frequency carrier combination value of the epoch at the first historical moment and the dual-frequency carrier combination value of the epoch at the second historical moment; A second acquisition unit, configured to obtain the first target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the dual-frequency carrier combination value of the epoch at the first historical moment, the dual-frequency carrier combination value of the epoch at the second historical moment, and the dual-frequency carrier combination value of the current epoch.

8. The device according to claim 7, characterized in that, The construction module includes: A second calculation unit, configured to calculate the epoch first difference value of the non-geometric combination value based on the difference between the dual-frequency carrier combination value of the current epoch and the dual-frequency carrier combination value of the epoch at the first historical moment; A third calculation unit, configured to calculate the epoch first difference value of the ionospheric error frequency difference based on a preset prior ionospheric model; A third acquisition unit, configured to obtain the second target cycle slip detection quantity of the carrier phase observation value of the low-earth orbit satellite according to the epoch first difference value of the non-geometric combination value and the epoch first difference value of the ionospheric error frequency difference.

9. An electronic device, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the cycle slip detection method for the carrier observation value of low-earth orbit navigation enhancement according to any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to be used for implementing the cycle slip detection method for the carrier observation value of low-earth orbit navigation enhancement according to any one of claims 1-5.

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