Satellite cycle slip detection and repair method and device, computer equipment and medium

Abstract

The embodiment of the invention provides a satellite cycle slip detection and restoration method and device, computer equipment and a medium, and the method comprises the following steps: obtaining an epoch difference of a priori residual value through the calculation of a broadcast ephemeris and an observation value of a satellite observation station, and taking the epoch difference of the priori residual value as a basic observation input value; detecting and repairing the cycle slip of the satellites through the GF model, dividing the satellites into non-cycle-slip satellites or non-repaired cycle slip satellites according to the detection and repair result, and obtaining the geometric item parameter value delta delta rho of the non-cycle-slip satellites and the precision information of the geometric item parameter value delta delta rho; the non-cycle-slip parameter XGB of the GB model is calculated through the geometric item parameter value delta delta rho of the cycle-slip-free satellite and the precision information of the geometric item parameter value delta delta rho; and calculating the cycle slip parameter # imgabs0 # of each non-repaired cycle slip satellite one by one through the non-cycle slip parameter XGB. According to the scheme, the information of the non-cycle slip satellite or the reliably repaired cycle slip satellite is effectively utilized through the conversion relation between the GF model and the GB model, and the detection and repair capability of the satellite cycle slip is improved.

Description

Technical Field

[0001] The present invention relates to the field of global navigation technology, and in particular to a method, device, computer device and medium for detecting and repairing satellite cycle slips. Background Art

[0002] Currently, the Global Navigation Satellite System (GNSS) can broadcast up to six frequencies of observations. The receiver can set the output of different frequencies of observations from dual-frequency to six-frequency according to the positioning requirements. Making full use of as many observations as possible can improve the reliability of the data processing results. However, this also poses new requirements for the detection and repair of cycle slips in multi-frequency data in high-precision applications, especially under real-time conditions. The current real-time cycle slip detection and repair methods are mainly divided into two categories. One is from the perspective of the observation value domain. By constructing epoch-difference combined observables to construct cycle slip test quantities, cycle slips are detected based on the principle of hypothesis testing. Further, whether to perform repair is selected according to the detection results. The core of this type of method is how to optimize the combination coefficients and construct effective hypothesis test quantities. For different frequency combinations, the optimal combination coefficients of this type of method are generally different, resulting in poor flexibility when processing mixed-frequency data. The second category is from the perspective of the state domain. By solving the cycle slip parameters from the non-combined epoch-difference observations and obtaining the variance-covariance matrix of the parameters, methods such as the LAMBDA algorithm can be further used to solve the integer cycle slips to achieve cycle slip repair. The core of this type of method is how to improve the accuracy of cycle slip parameter solution through constraint information such as the ionosphere. The advantage is that the algorithm is flexible and can process observations of any number and any frequency, which is suitable for program design and data processing under mixed-frequency observations.

[0003] Based on the non-combined epoch-difference model, it is mainly divided into the GF (Geometry-Free) model for single-satellite processing and the GB (Geometry-Based) model for multi-satellite processing. Among them, the GF model has simple modeling, does not require the input of information such as satellite ephemeris, and can achieve cycle slip detection and repair only by using observations. The data processing efficiency is high, but it does not consider the correlation between satellite observations. The solution strength of the model for cycle slip parameters is relatively low, resulting in a reduction in the success rate and reliability of cycle slip detection and repair at low satellite elevation angles (where the observation accuracy is relatively low). In contrast, the GB model can utilize the correlation between multi-satellite observations to enhance the cycle slip solution strength, but the model modeling is relatively complex, and at the same time, it requires the input of external information such as ephemeris. In the dynamic mode, standard point positioning (SPP) needs to be performed to solve the approximate coordinates of the station. As the number of observations increases, the model calculation efficiency is low, which affects data processing under real-time conditions. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides a method for detecting and repairing satellite cycle slips to solve the technical problem of low efficiency in detecting and repairing satellite cycle slips in the prior art. The method includes:

[0005] Calculating the epoch difference of the prior residual value through the broadcast ephemeris and the observation value of the satellite station, and using the epoch difference of the prior residual value as the basic observation input value;

[0006] Inputting the basic observation input value into the GF model of each satellite, detecting and repairing the cycle slips of the satellite through the GF model, classifying the satellite into a satellite without cycle slips or a satellite with unrepaired cycle slips according to the detection and repair results, and obtaining the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ;

[0007] Calculating the non-cycle slip parameter X of the GB model through the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ GB and, through the non-cycle slip parameter X GB successively solving the cycle slip parameters of each of the unrepaired cycle slip satellites and repairing the unrepaired cycle slip satellites until all the unrepaired cycle slip satellites are repaired.

[0008] An embodiment of the present invention also provides a device for detecting and repairing satellite cycle slips to solve the technical problem of low efficiency in detecting and repairing satellite cycle slips in the prior art. The device includes:

[0009] An input value calculation module, configured to calculate the epoch difference of the prior residual value through the broadcast ephemeris and the observation value of the satellite station, and use the epoch difference of the prior residual value as the basic observation input value;

[0010] A satellite classification module, configured to input the basic observation input value into the GF model of each satellite, detect and repair the cycle slips of the satellite through the GF model, classify the satellite into a satellite without cycle slips or a satellite with unrepaired cycle slips according to the detection and repair results, and obtain the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ;

[0011] A cycle slip detection and repair module, configured to calculate the non-cycle slip parameter X of the GB model through the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ GB and, through the non-cycle slip parameter X GB successively solving the cycle slip parameters of each of the unrepaired cycle slip satellites and repairing the unrepaired cycle slip satellites until all the unrepaired cycle slip satellites are repaired.

[0012] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned any cycle slip detection and repair method is implemented to solve the technical problem of low efficiency in cycle slip detection and repair processing of satellites in the prior art.

[0013] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing the above-mentioned any cycle slip detection and repair method to solve the technical problem of low efficiency in cycle slip detection and repair processing of satellites in the prior art.

[0014] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification at least include:

[0015] By using the conversion relationship between the GF model and the GB model, the information of satellites without cycle slips or with reliably repaired cycle slips is effectively utilized, the accuracy of satellite ambiguity parameter solving is improved, and the cycle slip detection and repair ability is improved compared with the GF model. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a flowchart of a method for detecting and repairing cycle slips of satellites provided by an embodiment of the present invention;

[0018] Figure 2 is a flowchart of implementing the above-mentioned method for detecting and repairing cycle slips of satellites provided by an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the average calculation time-consuming under three satellite cycle slip detection models;

[0020] Figure 4 is a structural block diagram of a computer device provided by an embodiment of the present invention;

[0021] Figure 5 is a structural block diagram of a device for detecting and repairing cycle slips of satellites provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The embodiments of the present application will be described in detail below with reference to the drawings.

[0023] The following specific examples illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope protected by the present application.

[0024] For the non-combined epoch-difference model, generally, the function model is constructed by using the pseudo-range and carrier-phase epoch-difference observation values. Based on this, the function model expressions of the GF model (single-satellite non-combined epoch-difference model) and the GB model (multi-satellite non-combined epoch-difference model) can be abstracted into the following matrix form:

[0025]

[0026] Among them, X * is the non-cycle-slip parameter (including geometric term difference or ionospheric delay difference term), ΔN is the cycle-slip parameter, L ΔP represents the epoch-difference of the prior residual of the pseudo-range observation value, L ΔL represents the epoch-difference of the prior residual of the carrier-phase observation value. The prior residual here refers to the correction of the geometric distance change, tropospheric delay change, and satellite clock difference term in their respective observation values. Q ΔP and Q ΔL represent the variance matrices of their respective observation values respectively, B is a diagonal matrix composed of different frequency wavelengths, A *ΔP and A *ΔL are the design matrices of the two types of observation values for X * respectively.

[0027] For the design matrix of the non-cycle-slip parameter X * , to improve the accuracy of solving the cycle-slip parameter, the ionospheric virtual observation value can be added to L ΔP by means of recursive prediction. It can be proved that the solution result of X * in the above form of equation is independent of L ΔL , that is, the solution of equation (1) is the same as the result of separately solving the following equation:

[0028] E[L ΔP =A *ΔP ·X * (2);

[0029] And an estimated value of the cycle slip parameter ΔN can be obtained The expression is as follows:

[0030]

[0031] Non-cycle slip parameter X * The estimated value The expression is as follows:

[0032]

[0033] Wherein, is the estimated value of the cycle slip parameter ΔN, is the estimated value of the non-cycle slip parameter X obtained by separately solving formula (2) * The estimated value, is the non-cycle slip parameter The variance-covariance matrix;

[0034] If it satisfies Then the variance-covariance matrices of the cycle slip parameter and the non-cycle slip parameter can be obtained as follows:

[0035]

[0036] Therefore, when the observation value accuracy and the signal frequency are determined, reducing the value of the non-cycle slip parameter That is, improving The accuracy can improve the solution accuracy of the cycle slip parameter The above process also gives an idea of reducing the order of matrix inversion:

[0037] Based on (2) and combined with external ionospheric information, etc., the non-cycle slip parameter with higher accuracy And the non-cycle slip parameter The variance-covariance matrix Furthermore, based on equations (3) and (5), the cycle slip parameter And the cycle slip parameter The variance-covariance matrix

[0038] The above gives an abstract form calculation method for the cycle slip and its variance-covariance matrix. The following gives the specific forms of the GB model and the GF model. While they have the same structure in the function model, there are also some differences. To better illustrate the algorithm in this paper, corresponding to (1), the non-cycle slip parameter in the GF model is denoted as X GF , the design matrix A *ΔP And A *ΔL Is denoted as A GFΔP And A GFΔL , the non-cycle slip parameter in the GB model is denoted as X GB , A *ΔP And A*ΔL Denoted as A GBΔP and A GBΔL . The specific form is as follows:

[0039]

[0040] The design matrix, parameters to be estimated, etc. of the GB model are respectively expressed by the following formulas:

[0041]

[0042] where, γ i = f1 2 / f i 2 is the ionospheric delay coefficient, J is an all - 1 column vector of n×1, and n is the number of observed value frequencies. Δδρ is the geometric term parameter of the GF model, and ΔI is the ionospheric delay difference parameter. In contrast, the GB model is more complex, is the line - of - sight vector from the station to satellite S at epoch t, is the Kronecker product. In terms of parameters, the GB model expands the geometric terms of each satellite into the form of coordinate difference parameter Δδx and receiver clock difference epoch difference parameter Δδt. Therefore, for a single satellite, the following relationship exists in the estimated parameters of the GB model and the GF model:

[0043]

[0044] Based on formula (9), the mutual conversion between the geometric terms of the GF model and the estimated parameters of the GB model can be realized. When the GF model can reliably detect and repair satellite cycle slips, the geometric term parameter Δδρ of this satellite can be solved with high precision and used as a virtual observation value to improve the accuracy of the non - cycle - slip parameter X GB of the GB model. Further, the cycle - slip parameter and its variance - covariance matrix of a single satellite can be solved based on formulas (3)(5).

[0045] In the embodiment of the present invention, a method for detecting and repairing satellite cycle slips is provided. As Figure 1 and Figure 2 shown, the method includes:

[0046] Step S101: Calculate the epoch difference of the prior residual value through the broadcast ephemeris and the observed values of the satellite station, and use the epoch difference of the prior residual value as the basic observation input value;

[0047] Step S102: Input the basic observation input value into the GF model of each satellite, detect and repair the cycle slips of the satellite through the GF model, classify the satellite into a non - cycle - slip satellite or an unrepaired cycle - slip satellite according to the detection and repair results, and obtain the geometric term parameter value Δδρ of the non - cycle - slip satellite and the accuracy information of the geometric term parameter value Δδρ;

[0048] Step S103: Calculate the non-cycle-slip parameter X of the GB model based on the geometric term parameter value Δδρ of the cycle-slip-free satellite and the accuracy information of the geometric term parameter value Δδρ GB , and based on the non-cycle-slip parameter X GB calculate the cycle-slip parameters of each of the unrepaired cycle-slip satellites one by one and repair the unrepaired cycle-slip satellites until all the unrepaired cycle-slip satellites are repaired completely.

[0049] Specifically, in implementation, the corrections of the geometric distance change, tropospheric delay change, and satellite clock error term of the satellite station are calculated through the following steps based on the broadcast ephemeris and the observation values of the satellite station:

[0050] Perform standard single-point positioning calculation through the broadcast ephemeris and station observation values to obtain the probability coordinates of the satellite station; obtain the geometric distance, satellite clock error, and tropospheric delay of the satellite station based on the probability coordinates, the broadcast ephemeris, and the tropospheric model; calculate the prior residual value based on the geometric distance, the satellite clock error, and the tropospheric delay; perform epoch-differencing calculation on the prior residual value to obtain the corrections of the geometric distance change, tropospheric delay change, and satellite clock error term of the satellite station.

[0051] Specifically, the first step is the data preparation stage. Perform standard single-point positioning (SPP) calculation on the station probability coordinates through the broadcast ephemeris and station observation values, and obtain the geometric distance, satellite clock error, and tropospheric delay of the satellite station based on the probability coordinates, the broadcast ephemeris, and the tropospheric model. Accordingly, obtain the prior residual value (OMC), and perform epoch-differencing on the OMC to obtain the epoch difference (dOMC) of the OMC as the basic observation input of this algorithm.

[0052] Specifically, in implementation, the non-cycle-slip parameter X of the GB model is calculated through the following steps based on the geometric term parameter value Δδρ of the cycle-slip-free satellite and the accuracy information of the geometric term parameter value Δδρ GB :

[0053] If the satellite is the cycle-slip-free satellite, construct the first equation set of the non-cycle-slip parameter X of the GB model based on the geometric term parameter value Δδρ and the accuracy information of the geometric term parameter value Δδρ; if the satellite is the unrepaired cycle-slip satellite, construct the second equation set of the non-cycle-slip parameter X of the GB model; solve the non-cycle-slip parameter X of the GB model through the first equation set and the second equation set GB ; GB of the GB model; solve for the non-cycle-slip parameter X of the GB model through the first equation set and the second equation set GB .

[0054] Specifically, in the second step, the traditional GF model is used to solve the cycle slip parameters for each satellite to detect and repair cycle slips. Whether each satellite successfully repairs the cycle slip is marked, and the geometric term parameter value Δδρ and its accuracy information of the satellite with successfully repaired cycle slip are recorded.

[0055] In specific implementation, the non-cycle slip parameter X of the GB model is constructed through the following steps using the geometric term parameter value Δδρ and the accuracy information of the geometric term parameter value Δδρ. GB The first set of equations:

[0056] Obtain the geometric term parameter value Δδρ of the satellite and the accuracy information of the geometric term parameter value Δδρ, and construct the estimation parameter relationship between the GB model and the GF model; the estimation parameter relationship is: where Δδx is the coordinate difference parameter, Δδt is the receiver clock error epoch difference parameter, is the estimated value of the line-of-sight vector from the epoch station to satellite S; use the estimation parameter relationship as the first set of equations.

[0057] In specific implementation, the non-cycle slip parameter X of the GB model is constructed through the following steps. GB The second set of equations:

[0058] Construct the epoch difference L of the prior residual of the pseudorange observation ΔP of the expected value and the non-cycle slip parameter X * The first relationship, where E[L ΔP = A *ΔP ·X * , X * is the non-cycle slip parameter, A *ΔP is the design matrix of the pseudorange observation for X*, L ΔP is the epoch difference of the prior residual of the pseudorange observation, E is the expected value; construct the design matrix of the GB model and the second relationship between the non-cycle slip parameter X GB of the GB model, where X GB = [Δδx Δδt ΔI] T , is the design matrix of the pseudorange observation of the GB model for the non-cycle slip parameter X * , is the design matrix of the carrier phase observation of the GB model for the non-cycle slip parameter X * , γ is the ionospheric delay coefficient, J is an all-1 column vector of n×1, n is the number of observation frequencies, is the line-of-sight vector from the station to satellite S at epoch t, is the Kronecker product, Δδx is the coordinate difference parameter, and Δδt is the receiver clock difference epoch parameter; the non-cycle slip parameter X of the GB model is constructed through the first relation and the second relation GB of the second set of equations

[0059] In specific implementation, the following steps are adopted to realize the non-cycle slip parameter X GB to calculate the cycle slip parameter of each unrepaired cycle slip satellite one by one

[0060] Loop to repair each unrepaired cycle slip satellite until all unrepaired cycle slip satellites are processed: take the non-cycle slip parameter X GB as the estimated value of the non-cycle slip parameter calculate to obtain the cycle slip parameter where B is a diagonal matrix composed of different frequency wavelengths, and A *ΔL is the design matrix of the carrier phase observation value with respect to the non-cycle slip parameter X * and L ΔL is the epoch difference of the prior residual of the carrier phase observation value

[0061] Specifically, in the third step, according to the cycle slip marking result, the satellites are divided into two sets: satellites without cycle slips (or repaired cycle slips) and unrepaired cycle slips. If the set of unrepaired cycle slips is empty or unchanged, the program ends. Otherwise, the following processing will be carried out for the two sets respectively: for the set of successfully repaired cycle slips, use the above formula (9) to construct the equation set 1 about the GB model parameter X with the Δδρ recorded in the second step as the virtual observation value; for the set of satellites with unrepaired cycle slips, use the traditional GB model construction method based on the above formulas (2) and (7) to construct the equation set 2 about X GB and finally jointly solve the non-cycle slip parameter X in the GB model by combining the first equation set and the second equation set constructed by the above two sets GB GB .

[0062] In specific implementation, the following steps are adopted to obtain the cycle slip parameter

[0063] If the satellite is the satellite without cycle slips, the cycle slip parameter of the satellite without cycle slips is 0

[0064] The fourth step focuses on processing the set of satellites with unrepaired cycle slips in the third step. According to the X obtained in the third step GB solution result and the above formula (3), calculate the cycle slip parameter of each satellite one by one try to repair and mark the repair result, update the set of unrepaired cycle slips and return to the third step for iterative loop ​

[0065] The algorithm is verified from two aspects: computing efficiency and computing power. First, in terms of computing efficiency, an ULAB station equipped with a JAVAD TRE_3 receiver (which can receive and output multi-system and multi-frequency observations such as GPS triple-frequency, BDS-3 six-frequency, and Galileo five-frequency) is selected for the experiment. The experimental equipment is a laptop computer with the configuration of Core TM i7-10875H CPU (2.30GHz). Three model strategies are set: Strategy 1 is the GF model, Strategy 2 is the traditional GB model, and Strategy 3 is this algorithm. In terms of observations, four schemes are set: GPS triple-frequency (G), BDS-3 six-frequency (C), GPS triple-frequency + BDS-3 six-frequency (GC), and GPS triple-frequency + BDS-3 six-frequency + Galileo five-frequency (GEC). The average time per epoch under each of the three model strategies is calculated as Figure 3 shown below:

[0066] The computing time of this algorithm is close to that of the GF model and shows a significant improvement compared to the GB model, especially for the processing of multi-frequency pairs of systems. The model performance is further analyzed by simulating cycle slips. Taking BDS-3 as an example, 100 epochs are randomly selected from the observation value sequences of all BDS-3 satellites, and cycle slip values in the range of [-3 3] are randomly added to the original observations. Taking the reliable fixation of the cycle slip as the simulated value as the condition for successful cycle slip repair, the repair success rates of all simulated cycle slips are statistically shown in the following table. The results show that the algorithm (Strategy 3) of the embodiment of the present invention has a cycle slip detection and repair success rate not lower than that of the GB model at different frequencies and is significantly improved compared to the GF model.

[0067] Table 1 Cycle slip repair success rates of three models under different frequency observations

[0068]

[0069] In this embodiment, a computer device is provided, as Figure 4 shown, including a memory 401, a processor 402, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements any of the above satellite cycle slip detection and repair methods.

[0070] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0071] In this embodiment, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program for executing any of the above satellite cycle slip detection and repair methods.

[0072] Specifically, a computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable storage medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0073] Based on the same inventive concept, an embodiment of the present invention also provides a satellite cycle slip detection and repair device, as described in the following embodiments. Since the principle of solving problems by the satellite cycle slip detection and repair device is similar to that of the satellite cycle slip detection and repair method, the implementation of the satellite cycle slip detection and repair device can refer to the implementation of the satellite cycle slip detection and repair method, and the repeated parts will not be described again. As used hereinafter, the term "unit" or "module" can be a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0074] Figure 5 is a structural block diagram of the cycle slip detection and repair device according to an embodiment of the present invention, as Figure 5 shown, including: an input value calculation module 501, a satellite classification module 502, and a cycle slip detection and repair module 503. The following describes this structure.

[0075] The input value calculation module 501 is configured to calculate the epoch difference of the prior residual value through the broadcast ephemeris and the observation values of the satellite station, and use the epoch difference of the prior residual value as the basic observation input value;

[0076] The satellite classification module 502 is configured to input the basic observation input value into the GF model of each satellite, detect and repair the cycle slip of the satellite through the GF model, classify the satellite into a satellite without cycle slip or a satellite with an unrepaired cycle slip according to the detection and repair results, and obtain the geometric term parameter value Δδρ of the satellite without cycle slip and the accuracy information of the geometric term parameter value Δδρ;

[0077] The cycle slip detection and repair module 503 is configured to calculate the non-cycle slip parameter X of the GB model based on the geometric term parameter value Δδρ of the cycle slip-free satellite and the accuracy information of the geometric term parameter value Δδρ. GB , and based on the non-cycle slip parameter X GB calculate the cycle slip parameter of each of the unrepaired cycle slip satellites one by one and repair the unrepaired cycle slip satellites until all the unrepaired cycle slip satellites are repaired.

[0078] In one embodiment, the input value calculation module includes:

[0079] The probability coordinate calculation unit is configured to perform standard single-point positioning calculation through the broadcast ephemeris and the station observation values to obtain the probability coordinates of the satellite station;

[0080] The data calculation unit is configured to obtain the geometric distance, satellite clock error, and tropospheric delay of the satellite station based on the probability coordinates, the broadcast ephemeris, and the tropospheric model;

[0081] The prior residual value calculation unit is configured to calculate the prior residual value based on the geometric distance, the satellite clock error, and the tropospheric delay;

[0082] The correction acquisition unit is configured to perform epoch-differencing calculation on the prior residual value to obtain the correction of the geometric distance change, the correction of the tropospheric delay change, and the correction of the satellite clock error term of the satellite station.

[0083] In one embodiment, the cycle slip detection and repair module includes:

[0084] The first equation set construction unit is configured to construct the first equation set of the non-cycle slip parameter X of the GB model through the geometric term parameter value Δδρ and the accuracy information of the geometric term parameter value Δδρ if the satellite is the cycle slip-free satellite GB ;

[0085] The second equation set construction unit is configured to construct the second equation set of the non-cycle slip parameter X of the GB model if the satellite is the unrepaired cycle slip satellite GB ;

[0086] The non-cycle slip parameter solving unit is configured to solve the non-cycle slip parameter X of the GB model through the first equation set and the second equation set GB .

[0087] In one embodiment, the first equation set construction unit is configured to obtain the geometric term parameter value Δδρ of the satellite and the accuracy information of the geometric term parameter value Δδρ, and construct the estimation parameter relation formula between the GB model and the GF model; the estimation parameter relation formula is: where Δδx is the coordinate difference parameter and Δδt is the receiver clock error epoch difference parameter. is the estimated value of the line-of-sight vector from the epoch measurement station to satellite S; the estimated parameter relation is used as the first equation set.

[0088] In one embodiment, the first equation set construction unit is configured to construct the epoch difference L of the prior residual of the pseudorange observation ΔP of the expected value and the non-cycle slip parameter X * where E[L ΔP = A *ΔP ·X * , X * is the non-cycle slip parameter, A *ΔP is the design matrix of the pseudorange observation with respect to X * , L ΔP is the epoch difference of the prior residual of the pseudorange observation, E is the expected value; construct the design matrix of the GB model and the second relation of the non-cycle slip parameter X GB of the GB model, where X GB = [Δδx Δδt ΔI] T , is the design matrix of the pseudorange observation of the GB model with respect to the non-cycle slip parameter X * , is the design matrix of the carrier phase observation of the GB model with respect to the non-cycle slip parameter X * , γ is the ionospheric delay coefficient, J is an all-1 column vector of n×1, n is the number of observation value frequencies, is the line-of-sight vector from the measurement station to satellite S at epoch t, is the Kronecker product, Δδx is the coordinate difference parameter, Δδt is the receiver clock error epoch difference parameter; construct the second equation set of the non-cycle slip parameter X GB of the GB model through the first relation and the second relation.

[0089] In one embodiment, the cycle slip detection and repair module further includes:

[0090] A loop unit is configured to loop and repair each of the unrepaired cycle slip satellites until all the unrepaired cycle slip satellites are processed:

[0091] A cycle slip parameter calculation unit is configured to use the non-cycle slip parameter X GB as the estimated value of the non-cycle slip parameter to calculate the cycle slip parameter where B is a diagonal matrix composed of different frequency wavelengths, A *ΔL is the design matrix of the carrier phase observation with respect to the non-cycle slip parameter X* Design matrix, L ΔL is the epoch difference of the prior residual of the carrier phase observation value.

[0092] In one embodiment, the above device further includes: a cycle slip parameter calculation module.

[0093] In one embodiment, the cycle slip parameter calculation module further includes:

[0094] A cycle slip parameter calculation unit, configured to, if the satellite is the cycle slip-free satellite, the cycle slip parameter of the cycle slip-free satellite is 0.

[0095] The embodiments of the present invention achieve the following technical effects:

[0096] By using the conversion relationship between the GF model and the GB model, the information of cycle slip-free or reliably repaired cycle slip satellites is effectively utilized, the accuracy of satellite ambiguity parameter solution is improved, and the cycle slip detection and repair ability is improved compared with the GF model; when calculating the satellite cycle slip parameter, the step-by-step calculation method is adopted to reduce the operation order of the overall inversion, and the multi-satellite joint solution of the GB model and the overall cycle slip search and repair are converted into single-satellite cycle slip repair, improving the cycle slip search and repair efficiency, and improving the solution efficiency compared with the traditional double-star non-combined epoch difference model. Generally, this algorithm takes into account the calculation efficiency of the GF model and the solution ability of the GB model.

[0097] Obviously, those skilled in the art should understand that the above modules or steps of the embodiments of the present invention can be implemented by a general computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0098] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the embodiments of the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for detecting and repairing cycle slips of a satellite, characterized in that, Including: Calculating the epoch difference of the prior residual value obtained from the broadcast ephemeris and the observation values of the satellite stations, and using the epoch difference of the prior residual value as the basic observation input value; Inputting the basic observation input value into the GF model of each satellite, detecting and repairing the cycle slips of the satellite through the GF model, classifying the satellite into a satellite without cycle slips or a satellite with unrepaired cycle slips according to the detection and repair results, and obtaining the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ; Calculate the non-cycle-slip parameter X of the GB model through the geometric term parameter value Δδρ of the cycle-slip-free satellite and the accuracy information of the geometric term parameter value Δδρ GB , through the non-cycle-slip parameter X GB Solve the cycle-slip parameter of each of the unrepaired cycle-slip satellites one by one And repair the unrepaired cycle-slip satellites until all the unrepaired cycle-slip satellites are repaired 2. The method for detecting and repairing cycle slips of a satellite according to claim 1, characterized in that, Calculating the non-cycle-slip parameter X of the GB model based on the geometric term parameter value Δδρ of the cycle-slip-free satellite and the accuracy information of the geometric term parameter value Δδρ GB , including: If the satellite is the cycle-slip-free satellite, construct the non-cycle-slip parameter X of the GB model through the geometric term parameter value Δδρ and the accuracy information of the geometric term parameter value Δδρ GB for the first system of equations; If the satellite is the satellite with unrepaired cycle slips, construct the second set of equations of the non-cycle slip parameter X of the GB model GB ; The non-cycle slip parameter X of the GB model is obtained by solving the first equation set and the second equation set GB .

3. The method for detecting and repairing cycle slips of a satellite according to claim 2, characterized in that, Construct the non-cycle slip parameter X of the GB model based on the geometric term parameter value Δδρ and the accuracy information of the geometric term parameter value Δδρ GB The first system of equations of: Obtaining the geometric term parameter value Δδρ of the satellite and the accuracy information of the geometric term parameter value Δδρ, and constructing the estimation parameter relationship formula between the GB model and the GF model; The estimation parameter relationship formula is: where Δδx is the coordinate difference parameter and Δδt is the receiver clock error epoch difference parameter, is the estimated value of the line-of-sight vector from the epoch measurement station to satellite S; Using the estimation parameter relationship formula as the first set of equations.

4. The method for detecting and repairing cycle slips of a satellite according to claim 2, characterized in that, Construct the second system of equations for the non-cycle slip parameter X of the GB model GB which includes: Epoch difference L of the prior residual of the pseudorange observation ΔP and the first relationship of the non-cycle slip parameter X * where E[L ΔP = A *ΔP ·X * , X * is the non-cycle slip parameter, A *ΔP is the design matrix of the pseudorange observation with respect to X * , L ΔP is the epoch difference of the prior residual of the pseudorange observation, and E is the expected value; Construct the design matrix of the GB model and the ambiguity parameter X of the GB model GB The second relation of, where is the pseudorange observation of the GB model for the ambiguity parameter X * The design matrix of is the carrier phase observation of the GB model for the ambiguity parameter X * The design matrix of, γ is the ionospheric delay coefficient, J is an all-ones column vector of n×1, and n is the number of observation frequencies is the line-of-sight vector from the station to satellite S at epoch t is the Kronecker product, Δδx is the coordinate difference parameter, and Δδt is the receiver clock difference epoch parameter; Construct the non-cycle slip parameter X of the GB model through the first relation and the second relation GB of the second system of equations.

5. The method for detecting and repairing cycle slips of a satellite according to claim 1, characterized in that, By means of the non-cycle-slip parameter X GB Solve the cycle-slip parameter of each of the unrepaired cycle-slip satellites one by one including: Cyclically repairing each of the satellites with unrepaired cycle slips until all the satellites with unrepaired cycle slips are processed: Take the non-cycle slip parameter X GB as the estimated value of the non-cycle slip parameter and calculate the cycle slip parameter where B is a diagonal matrix composed of different frequency wavelengths, and A *ΔL is the design matrix of the carrier phase observation with respect to the non-cycle slip parameter X * and L ΔL is the epoch difference of the prior residual of the carrier phase observation.

6. The method for detecting and repairing cycle slips of a satellite according to any one of claims 1 to 5, characterized in that Also including: If the satellite is the cycle-slip-free satellite, the cycle-slip parameter of the cycle-slip-free satellite is 0.

7. The method for detecting and repairing cycle slips of a satellite according to any one of claims 1 to 5, characterized in that Calculating the correction of the geometric distance change, the correction of the tropospheric delay change and the correction of the satellite clock error term of the satellite station from the broadcast ephemeris and the observation values of the satellite station, including: Performing standard single-point positioning solution through the broadcast ephemeris and the station observation values to obtain the probability coordinates of the satellite station; Obtaining the geometric distance, satellite clock error and tropospheric delay of the satellite station according to the probability coordinates, the broadcast ephemeris and the tropospheric model; Calculating the prior residual value according to the geometric distance, the satellite clock error and the tropospheric delay; Performing epoch difference calculation on the prior residual value to obtain the correction of the geometric distance change, the correction of the tropospheric delay change and the correction of the satellite clock error term of the satellite station.

8. A device for detecting and repairing cycle slips, characterized in that, Including: An input value calculation module, configured to calculate the epoch difference of the prior residual value from the broadcast ephemeris and the observation values of the satellite station, and use the epoch difference of the prior residual value as the basic observation input value; A satellite classification module, configured to input the basic observation input value into the GF model of each satellite, detect and repair the cycle slips of the satellite through the GF model, classify the satellite into a satellite without cycle slips or a satellite with unrepaired cycle slips according to the detection and repair results, and obtain the geometric term parameter value Δδρ of the satellite without cycle slips and the accuracy information of the geometric term parameter value Δδρ; A cycle slip detection and repair module, which is used to calculate the non-cycle slip parameter X of the GB model through the geometric term parameter value Δδρ of the cycle-slip-free satellite and the accuracy information of the geometric term parameter value Δδρ GB , and through the non-cycle slip parameter X GB calculate the cycle slip parameter of each of the unrepaired cycle slip satellites one by one and repair the unrepaired cycle slip satellites until all the unrepaired cycle slip satellites are repaired.

9. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for detecting and repairing cycle slips according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program for executing the method for detecting and repairing cycle slips according to any one of claims 1 to 7.

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