A method and device for detecting and correcting cycle slip of a satellite carrier signal, and related equipment

Abstract

The application relates to the field of navigation satellites, in particular to a satellite carrier signal cycle slip detection and correction method and device and related equipment; the method comprises the following steps: in the process of detecting the cycle slip of the carrier signal of a navigation satellite system, controlling the receiving station arranged on the ground in the navigation satellite system to continuously receive the carrier signal to obtain phase observation values of various carrier signals; according to the wavelengths of the various carrier signals, the phase observation values and a plurality of sets of combination coefficients, determining a multi-frequency phase observation difference value and a cycle slip judgment threshold value; if the multi-frequency phase observation difference value is greater than or equal to the cycle slip judgment threshold value, according to the wavelengths corresponding to the various carrier signals respectively, the phase observation values and the plurality of sets of combination coefficients, determining a cycle slip value for correcting the phase observation values; the application can solve the technical problems that the cycle slip detection accuracy and system stability are both low in the existing three-frequency method for detecting and repairing the cycle slip phenomenon.

Description

Technical Field

[0001] This application relates to the field of navigation satellites, and in particular to a method, apparatus and related equipment for cycle slip detection and correction of satellite carrier signals. Background Technology

[0002] In the field of satellite positioning technology, cycle slips in the carrier signals transmitted by satellites can affect the phase observation values ​​of the carrier signals, thereby affecting the accuracy of satellite positioning. Therefore, it is necessary to detect and repair cycle slips.

[0003] In existing technologies, methods for cycle slip detection and repair are mainly divided into two categories: single / dual-frequency and triple-frequency methods. In practical applications, the single / dual-frequency method has the advantages of simplicity, strong real-time performance, and low information content, but its accuracy decreases under conditions of low sampling rate, strong multipath propagation, or high ionospheric disturbance. Compared to the single / dual-frequency method, the triple-frequency method enhances its response capability to ionospheric delays and difficult-to-detect cycle slips through additional frequency band redundancy.

[0004] In practical applications, although the three-frequency method improves the detection accuracy of cycle slip phenomenon compared with the single / dual-frequency method, the three-frequency method has technical problems such as low cycle slip detection accuracy and low system stability. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, apparatus and related equipment for cycle slip detection and correction of satellite carrier signals, so as to solve the technical problem that the existing three-frequency methods for detecting and repairing cycle slip phenomena have low cycle slip detection accuracy and low system stability.

[0006] In a first aspect, this application provides a cycle slip detection and correction method for satellite carrier signals, the method comprising:

[0007] During cycle slip detection of carrier signals in a navigation satellite system, the satellites in the navigation satellite system are controlled to continuously transmit multiple carrier signals with different wavelengths, and the receiving stations set up on the ground in the navigation satellite system are controlled to continuously receive the carrier signals to obtain phase observation values ​​of various carrier signals.

[0008] Based on the wavelength of each carrier signal, the phase observation value, and the multiple sets of combination coefficients, determine the multi-frequency phase observation difference and the cycle slip judgment threshold.

[0009] The combination coefficients indicate the degree of influence of the carrier signal on the cycle slip phenomenon.

[0010] If the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, a cycle slip value for correcting the phase observation value is determined based on the wavelength corresponding to each of the various carrier signals, the phase observation value, and a preset set of combination coefficients.

[0011] Secondly, this application provides a cycle slip detection and correction device for satellite carrier signals, the device comprising: a data acquisition module, a data processing module, and a cycle slip value determination module;

[0012] The data acquisition module is used to control the satellites in the navigation satellite system to continuously transmit multiple carrier signals with different wavelengths during the cycle slip detection process of the carrier signals of the navigation satellite system, and to control the receiving station set up on the ground in the navigation satellite system to continuously receive the carrier signals in order to obtain the phase observation values ​​of the various carrier signals.

[0013] The data processing module is used to determine the multi-frequency phase observation difference and cycle slip judgment threshold based on the wavelength of various carrier signals, the phase observation value, and the multiple sets of combination coefficients.

[0014] The combination coefficients indicate the degree of influence of the carrier signal on the cycle slip phenomenon.

[0015] The cycle slip value determination module is used to determine a cycle slip value for correcting the phase observation value based on the wavelength corresponding to each of the various carrier signals, the phase observation value, and a preset set of combination coefficients if the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold.

[0016] Thirdly, this application provides an electronic device including a processor and a memory, the memory being used to store an application program, and the processor enabling the electronic device to implement the above-described cycle slip detection and correction method for satellite carrier signals by running or executing the software program stored in the memory.

[0017] Fourthly, this application provides a computer-readable storage medium for storing program code executed by a processor, the program code being used to implement the above-described cycle slip detection and correction method for satellite carrier signals.

[0018] Fifthly, this application provides a computer program product containing computer instructions that, when executed on an electronic device, cause the electronic device to implement the aforementioned cycle slip detection and correction method for satellite carrier signals.

[0019] Beneficial effects:

[0020] This application provides a cycle slip detection and correction method for satellite carrier signals. The method includes: during cycle slip detection of carrier signals of a navigation satellite system, controlling a satellite in the navigation satellite system to continuously transmit multiple carrier signals with different wavelengths, and controlling a receiving station set up on the ground in the navigation satellite system to continuously receive carrier signals to obtain phase observation values ​​of various carrier signals; determining a multi-frequency phase observation difference and a cycle slip judgment threshold based on the wavelengths, phase observation values, and multiple sets of combination coefficients of various carrier signals; wherein, the combination coefficients indicate the degree of influence of the carrier signals on the cycle slip phenomenon; if the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, determining a cycle slip value for correcting the phase observation value based on the wavelengths, phase observation values, and preset multiple sets of combination coefficients corresponding to each carrier signal.

[0021] In summary, firstly, this application controls the satellite to transmit multi-wavelength carrier signals, and the ground receiving station synchronously collects phase observation values ​​at each frequency point, utilizing the complementarity of multi-frequency data to construct an anti-interference observation foundation; secondly, based on the characteristics of each carrier wavelength and preset combination coefficients, this application designs a combined observation difference (such as a geometrically independent combination) that is sensitive to cycle slips and immune to common errors such as those in the ionosphere and troposphere, effectively separating cycle slip characteristics from noise interference; finally, this application dynamically sets a cycle slip judgment threshold, and when the multi-frequency phase observation difference exceeds the threshold, it further utilizes the optimized combination coefficients to invert the cycle slip value, achieving high-precision correction. Thus, this application, through the synergistic optimization of frequency redundancy and combination strategies, avoids the environmental adaptability defects of single / dual-frequency methods and overcomes the noise amplification problem of traditional three-frequency methods, significantly improving the accuracy of cycle slip detection and system robustness, providing a reliable guarantee for high-precision satellite positioning. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. The following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating the cycle slip detection and correction method for satellite carrier signals provided in this application embodiment;

[0024] Figure 2 This is a schematic diagram of the structure of the cycle slip detection and correction device for satellite carrier signals provided in the embodiments of this application. Detailed Implementation

[0025] In existing technologies, carrier phase observation, with its sub-millimeter-level measurement accuracy, is widely used in high-precision GNSS (Global Navigation Satellite System) positioning applications, particularly in fields such as bridge deformation monitoring and crustal deformation observation. However, carrier phase observation is susceptible to cycle slip phenomena. When the signal is interrupted, the signal-to-noise ratio decreases, or the environment is highly dynamic, the receiving station may experience phase tracking failure, introducing integer-cycle phase jumps that cause positioning errors and even render subsequent high-precision calculations ineffective. Therefore, how to efficiently and reliably detect and repair cycle slips under various complex environments is one of the core issues in improving the accuracy and stability of GNSS positioning.

[0026] To address this challenge, numerous studies have proposed cycle slip detection and repair methods, mainly categorized into single / dual-frequency and triple-frequency methods. Single / dual-frequency methods utilize single and dual-frequency observations with low computational cost and limited frequency band information to achieve cycle slip detection and repair. Guo Xiang's dual-frequency GPS cycle slip detection and repair method, based on the phase-to-pseudorange method, focuses on amplifying the cycle slip amplitude using the phase and pseudorange difference between adjacent epochs. The algorithm is simple, real-time, and requires minimal information; however, its accuracy decreases under low sampling rates, strong multipath propagation, or high ionospheric disturbances, and it is limited to dual-frequency GPS (Global Positioning System) platforms.

[0027] Compared to single / dual-frequency schemes, the three-frequency method enhances the response capability to ionospheric delay and difficult-to-detect cycle slips through additional frequency band redundancy. However, while the three-frequency method improves the cycle slip detection and repair capability under complex ionospheric and weak signal conditions through frequency band redundancy and linear independent combination, it still faces challenges such as high pseudorange noise dependence, complex real-time implementation, and lack of adaptive thresholds. Under complex conditions such as dynamic environments, strong ionospheric interference, and low signal quality, existing single / dual-frequency and three-frequency methods are prone to decreased accuracy, missed detections, or misjudgments during cycle slip detection and repair. Therefore, improving the accuracy of cycle slip detection and system stability, especially robustness in complex environments, remains an urgent problem to be solved.

[0028] Therefore, this application proposes a cycle slip detection and repair technique for satellite carrier signals. To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] First, this application provides a cycle slip detection and correction method for satellite carrier signals, such as... Figure 1 As shown, Figure 1 The flowchart of the cycle slip detection and correction method for satellite carrier signals provided in the embodiments of this application is shown below. The method includes steps S100 to S300, as detailed below:

[0030] S100: During the cycle slip detection of the carrier signals of the navigation satellite system, the satellites in the navigation satellite system are controlled to continuously transmit multiple carrier signals with different wavelengths, and the receiving stations set up on the ground in the navigation satellite system are controlled to continuously receive carrier signals in order to obtain phase observation values ​​of various carrier signals.

[0031] Specifically, in satellite positioning technology, cycle slips in carrier signals significantly affect the accuracy and reliability of positioning. A cycle slip refers to a phase discontinuity in a carrier signal during propagation caused by various factors (such as signal obstruction, multipath effects, etc.). To ensure high-precision positioning, cycle slips must be accurately detected and corrected. Traditional single / dual-frequency methods experience accuracy degradation under specific environments (such as low sampling rates, strong multipath propagation, or high ionospheric disturbances), while tri-frequency methods enhance system robustness by introducing additional frequency bands.

[0032] In practice, satellites in a navigation satellite system are controlled to continuously transmit multiple carrier signals with different wavelengths. These carrier signals typically include three signals at different frequencies to provide redundancy and enhance resistance to ionospheric delays. Ground-based receiving stations are controlled to continuously receive these carrier signals and record the phase observations of each carrier signal. These phase observations are the foundational data for subsequent cycle slip detection and repair.

[0033] In practical operation, S100 is used to acquire phase observation values ​​of multi-frequency carrier signals, providing data support for subsequent cycle slip detection and repair; by enhancing the system's resistance to ionospheric delay and multipath effects through multi-frequency signals, the accuracy and reliability of cycle slip detection are improved.

[0034] S200: Determine the multi-frequency phase observation difference and cycle slip judgment threshold based on the wavelength and phase observation values ​​of various carrier signals and multiple sets of combination coefficients.

[0035] Among them, the combination coefficient indicates the degree of influence of the carrier signal on the cycle slip phenomenon.

[0036] Specifically, after acquiring the phase observation values ​​of the multi-frequency carrier signal, the next step is to determine the multi-frequency phase observation difference and cycle slip judgment threshold based on these observation values ​​and preset combination coefficients. This step is crucial for cycle slip detection because it directly affects whether cycle slips can be accurately identified.

[0037] In practice, appropriate combination coefficients are selected based on the principles of three-frequency combination without geometric phase and three-frequency combination with three-difference phase. These coefficients need to satisfy the conditions for eliminating geometric distance and clock error terms and to minimize ionospheric delay error values. For example, in the combination coefficients without geometric phase, the sum of the combination coefficients needs to be zero to eliminate the influence of geometric distance and clock error.

[0038] In practice, the multi-frequency phase observation difference is calculated using the selected combination coefficients and phase observation values. This difference reflects the changes in phase observation values ​​in different frequency bands and is an important basis for judging cycle slips. According to the noise level and confidence requirements, a cycle slip judgment threshold is set. This threshold is used to judge whether the multi-frequency phase observation difference exceeds the normal range, thereby identifying possible cycle slips.

[0039] In practice, multi-frequency phase observations are transformed into a more discriminative difference form by combining coefficients, facilitating subsequent cycle slip detection. Setting a reasonable cycle slip judgment threshold ensures accurate identification of cycle slip phenomena even in complex environments.

[0040] In one implementation, the navigation satellite system has multiple satellites and multiple receiving stations; the multi-frequency phase observation difference includes three-frequency non-geometric phase observation difference and three-frequency three-difference phase observation difference; S200 includes: step (1), details of which are shown below:

[0041] Step (1): Based on the phase observation values ​​of the carrier signals transmitted by each satellite received by each receiving station at two adjacent signal reception times, determine the geometric-free phase observation difference and the three-frequency three-difference phase observation difference corresponding to each type of carrier signal.

[0042] Specifically, in a multi-satellite and multi-receiver navigation satellite system, each receiver station receives carrier signals from different satellites at different times. Due to factors such as ionospheric interference and multipath effects during signal propagation, cycle slips may occur in the phase observations of the carrier signals, thus affecting positioning accuracy. To accurately detect cycle slips, it is necessary to calculate the geometrically inverse phase observation difference across the three frequencies to eliminate common errors such as receiver clock bias and satellite clock bias.

[0043] In practice, each receiving station records the phase observation values ​​of the carrier signals transmitted by each satellite at two adjacent signal reception times. For each pair of receiving stations and satellites, the difference between their phase observation values ​​at two adjacent reception times is calculated to obtain a single-difference observation value. Then, the single-difference observation values ​​between different satellites or different receiving stations are differentially analyzed again to obtain the three-frequency geometrically neutral phase observation difference value. Specifically, a reference satellite and a reference receiving station can be selected, and the phase differences between other satellites and the reference satellite, as well as between other receiving stations and the reference receiving station, can be calculated. These two sets of differences are then differentially analyzed to eliminate receiving station clock errors and satellite clock errors.

[0044] In this embodiment, cycle slips in carrier phase observations significantly affect positioning accuracy and reliability in high-precision satellite navigation. Based on three-frequency signals (i.e., three carrier signals with different wavelengths), ionospheric delay errors can be reduced and geometrically dependent terms such as satellite-receiving station clock errors can be eliminated as much as possible through geometry-free (GF) phase combination, thereby improving the robustness of cycle slip detection. The observation equation for the three-frequency geometry-free phase combination is as follows:

[0045] ;

[0046] ; ;

[0047] ;

[0048] ;

[0049] ;

[0050] In the formula, , and These represent the first carrier signal (hereinafter referred to as the first carrier signal), the second carrier signal (hereinafter referred to as the second carrier signal), and the third carrier signal (hereinafter referred to as the third carrier signal) in the three-frequency signal, respectively, in the epoch. Carrier phase observations;

[0051] Indicates the ionospheric delay amplification factor; Indicates the epoch The ionospheric delay error value;

[0052] , and These represent the wavelengths of the first carrier signal, the second carrier signal, and the third carrier signal, respectively. Indicates the wavelength of the three-frequency signal;

[0053] , and These represent the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the epoch. The cycle slip value; Indicates the three-frequency signal at the epoch. The cycle slip value;

[0054] , and These represent the frequencies of the first carrier signal, the second carrier signal, and the third carrier signal, respectively. Indicates the frequency of the three-frequency signal;

[0055] , and These represent the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the epoch. The noise value; Indicates the three-frequency signal at the epoch. The noise value;

[0056] , and These represent the geometrically unpaired coefficients corresponding to the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the geometrically unpaired combination coefficients.

[0057] In practice, since the ionospheric delay in different frequency bands is inversely proportional to the wavelength, frequency differences can be used for convection and ionospheric correction. Therefore, constructing the three-frequency phase observations as a GF combination can further reduce the first-order ionospheric delay while eliminating common terms such as geometric distance and clock error. To ensure that the geometric distance and clock error terms are completely canceled out after combination, the combination coefficients must satisfy certain conditions. .

[0058] By applying the above constraints, the influence of geometric distance and clock error on combined observations can be eliminated. Therefore, the geometrically phase-free combined coefficient observations are mainly affected by ionospheric delay, tropospheric delay, integer ambiguity, and noise in each frequency band. The formula for inter-epoch difference of the three-frequency geometrically phase-free observations is as follows:

[0059] ;

[0060] In the formula, Indicates the single difference factor between epochs; epoch He Liyuan That is, the two adjacent signal reception times;

[0061] , and These represent the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the epoch. He Liyuan The geometric phase difference between the observations; , and Collectively referred to as the three-frequency non-geometric phase observation difference; , and These represent the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the epoch. He Liyuan The difference between cycle slips;

[0062] Indicates the epoch The ionospheric delay error value and in the epoch The difference between the ionospheric delay error values;

[0063] Indicates the epoch The noise value and in the epoch The difference between the noise values.

[0064] In practice, step (1) is used to eliminate common errors such as receiver clock error and satellite clock error, improve the accuracy of cycle slip detection, and also to provide basic data for subsequent calculation of the phase difference of three-frequency three-difference observation.

[0065] In practice, although the geometric-free phase combination coefficient method can effectively cancel geometric and clock error terms, it is still affected by the first and higher-order terms of ionospheric delay, and has certain limitations in terms of multipath effects and phase noise. To further suppress these systematic errors, based on the multi-frequency geometric-free phase combination coefficient method, inter-station single difference, inter-satellite double difference, and inter-epoch triple difference techniques can be combined to obtain purer three-frequency triple-difference phase observations, thereby achieving better results in high-precision positioning and cycle slip detection.

[0066] The observation equation for the three-frequency, three-difference phase combination is shown below:

[0067] ;

[0068] In the formula, Indicates wavelength; Indicates the distance between the satellite and the ground; Represents the speed of light; Indicates the clock difference at the receiving station; Indicates satellite clock bias; Indicates current layer delay error; Indicates tropospheric error; Indicates the cycle slip value; This indicates the noise level.

[0069] In actual operation, each of the first, second, and third carrier signals corresponds to 2 (2 satellites). 2 (2 receiving stations) 2 (2 epochs) = 8 phase observations; among which, for each of the 8 phase observations of various carrier signals, single difference, double difference, and triple difference are performed sequentially. Single difference is used to eliminate receiver clock error, then double difference between satellites is used to eliminate satellite clock error and satellite orbit error, and finally triple difference is performed on adjacent epochs to remove static error and system offset; the triple difference carrier phase observation equation is as follows:

[0070]

[0071] ;

[0072] In the formula, Indicates the three difference factors; and This indicates two receiving stations located at different points in a navigation satellite system; and Indicates two satellites in different positions within a navigation satellite system; This represents the three-difference phase observation difference corresponding to each of the first, second, and third carrier signals; Indicates the distance between the three satellites; This indicates the delay error of the triple differential current layer; This represents the three-difference noise value.

[0073] Based on multi-frequency observation theory, without geometric phase combination, a triple-difference combined observation equation can be further constructed for the triple-difference carrier phase observation equation to further reduce higher-order ionospheric terms and systematic errors such as multipath errors, thus deriving the three-frequency triple-difference phase observation equation; the three-frequency triple-difference phase observation equation is shown below:

[0074] ;

[0075] ;

[0076] ; ;

[0077] In the formula, This represents the three-frequency, three-difference phase noise value; This represents the amplification factor for ionospheric delay error; This represents the three-frequency, three-difference ionospheric delay error value; , and These represent the three-difference phase coefficients corresponding to the first carrier signal, the second carrier signal, and the third carrier signal, respectively, in the three-difference phase combination coefficients.

[0078] As shown in the aforementioned formula, the triple-difference phase observations can effectively eliminate common terms such as receiver clock errors and orbital errors, while also effectively suppressing higher-order ionospheric errors. When the geometrically indeterminate multi-frequency triple-difference combination coefficients are selected appropriately, it can ensure a sufficiently long combination wavelength to facilitate integer cycle slip detection while avoiding excessive amplification of observation noise and ionospheric delay effects.

[0079] In one implementation, the types of combination coefficients include: geometrically undifferentiated combination coefficients and triple-difference phase combination coefficients; S200 further includes: steps (2) and (3), as detailed below:

[0080] Step (2): Determine the first cycle slip judgment threshold based on the wavelength and phase observation values ​​of various carrier signals and the preset geometric phase combination coefficient.

[0081] Specifically, in the embodiments of this application, in high-precision positioning of satellite navigation, cycle slips of carrier phase observations can significantly affect the accuracy and reliability of positioning results. Three-frequency geometricless phase combination weakens ionospheric delay error and eliminates common terms such as geometric distance and clock bias by constructing geometricless (GF) combination observations, thereby improving the robustness of cycle slip detection. However, relying solely on geometricless phase combination coefficients may still be affected by residual errors such as higher-order ionospheric terms and multipath effects. Therefore, it is necessary to set a reasonable cycle slip judgment threshold to accurately identify cycle slips.

[0082] In practice, according to It can be seen that after inter-epoch differencing, the carrier phase observations constituting the geometric phase combination coefficients are only affected by ionospheric delay variations, observation noise, and cycle slip components; if a high sampling rate is used, , The absolute value is relatively small, and furthermore, at high sampling rates, The value and When the value is very small, This can be ignored; therefore, the cycle slip detection condition for the three frequencies without geometric phase combination is as follows:

[0083] ;

[0084] ;

[0085] In the formula, The first optimized value representing the first noise value of the three-frequency signal carrier phase observation; The first noise value, representing the carrier phase observation of the three-frequency signal, is used in actual operation. The value can be set to ; This indicates the threshold for the first cycle jump judgment; This represents a constant; in practical operation, The value is set to 3 (99.7% confidence) or 4 (99.9% confidence).

[0086] In practice, if The value is greater than or equal to the threshold for judging the first cycle jump. When this occurs, a cycle slip can be considered to have occurred; if The value is less than the threshold for judging the first cycle jump. At this point, it can be assumed that no cycle slip has occurred, but further verification is still needed.

[0087] Step (3): Determine the second cycle jump judgment threshold based on the wavelength and phase observation values ​​of various carrier signals and the preset three-difference phase combination coefficients.

[0088] Specifically, in the embodiments of this application, although the three-frequency geometric-free phase combination can reduce the first-order ionospheric delay, it is still limited by higher-order terms and multipath effects; the three-frequency three-difference phase combination, through inter-station single difference, inter-satellite double difference, and inter-epoch triple difference techniques, further eliminates common deviations such as station clock errors, satellite clock errors, and orbital errors, and has a stronger ability to suppress higher-order ionospheric terms and multipath interference. Therefore, an independent cycle slip judgment threshold needs to be set to adapt to its error characteristics.

[0089] In this embodiment, since the three-difference method has eliminated common terms such as geometric distance and clock error, the cycle slip detection condition for the three-frequency three-difference phase combination is as follows:

[0090] ;

[0091] ;

[0092] In the formula, The first optimized value represents the noise value of the carrier phase observation of the three-frequency signal; in actual operation, The value can be set to ; This indicates the threshold for the second cycle jump judgment.

[0093] In practice, if The value is greater than or equal to the threshold for judging the second cycle jump. When this occurs, a cycle slip can be considered to have occurred; if The value is less than the threshold for the second cycle jump judgment. At this time, it can be considered that no cycle slip phenomenon has occurred.

[0094] In practice, step (2) weakens the influence of geometric distance and clock error by using a combination coefficient without geometric phase and sets a reasonable threshold to accurately detect cycle slips; it provides high sensitivity cycle slip detection capability in environments with weak ionospheric disturbances or static environments; step (3) further eliminates residual errors by using a combination of three differences and sets an independent threshold to improve cycle slip detection capability in complex environments; it provides more reliable cycle slip judgment basis when ionospheric disturbances are severe or multipath effects are significant.

[0095] S300: If the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, the cycle slip value used to correct the phase observation value is determined based on the wavelength, phase observation value and preset combination coefficients of each carrier signal.

[0096] Specifically, after determining the multi-frequency phase observation difference and the cycle slip judgment threshold, the next step is to determine the cycle slip value used to correct the phase observations based on this information. This step is the core of cycle slip repair, as it directly affects the accuracy and reliability of the positioning results.

[0097] In practice, the multi-frequency phase observation difference is compared with a cycle slip judgment threshold. If the difference is greater than or equal to the threshold, a cycle slip is determined to have occurred. For cases where a cycle slip is determined to have occurred, the original integer ambiguity jump of each frequency band is estimated by using the wavelength, phase observation value, and multiple preset combination coefficients corresponding to each carrier signal through a reverse calculation formula, i.e., the cycle slip value. Based on the calculated cycle slip value, the phase observation value is corrected to eliminate the impact of cycle slip on the positioning results.

[0098] In actual operation, the S300 accurately identifies and quantifies cycle slip phenomena, providing a basis for subsequent phase observation correction; by correcting the phase observations, the influence of cycle slip on the positioning results is eliminated, improving the accuracy and reliability of positioning.

[0099] In one implementation, S300 includes steps (4) to (5), as detailed below:

[0100] Step (4): If the three-frequency geometric phase observation difference is greater than or equal to the first cycle slip judgment threshold, and / or the three-frequency three-difference phase observation difference is greater than or equal to the second cycle slip judgment threshold, determine the single-frequency cycle slip value corresponding to each carrier signal based on the phase observation value corresponding to each carrier signal and multiple sets of combination coefficients.

[0101] Specifically, in satellite navigation and positioning, cycle slips cause integer jumps in carrier phase observations, directly affecting positioning accuracy. Steps (2) and (3) have determined cycle slip thresholds based on three-frequency geometric phase combinations and three-frequency three-difference phase combinations, respectively. If the phase difference between three-frequency double-difference or three-frequency three-difference phase observations exceeds the corresponding threshold, it is necessary to further locate the specific carrier signal (single frequency) where the cycle slip occurred and calculate its cycle slip value to provide a basis for subsequent repairs.

[0102] In actual operation, check whether the three-frequency non-geometric phase observation difference is greater than or equal to the first cycle slip judgment threshold (the result of step 3), or whether the three-frequency three-difference phase observation difference is greater than or equal to the second cycle slip judgment threshold (the result of step 4). If either condition is met, the single-frequency cycle slip value calculation process is triggered. Using the phase observation values ​​of each carrier signal and the preset multiple sets of combination coefficients (such as non-geometric phase combination coefficients and three-difference combination coefficients), the cycle slip value of each carrier signal is calculated by the least squares method or the weighted average method.

[0103] In actual operation, step (4) is used to accurately locate the carrier signal that has cycle slipped, avoid misjudgment or omission, provide single-frequency cycle slip value for subsequent step (5), and support comprehensive cycle slip repair.

[0104] In this embodiment, to fully utilize the three-frequency observation information, two sets of three-frequency non-geometric phase combination observations and one set of three-frequency three-difference phase combination observations are used as constraint equations during cycle slip detection and repair. The two combination methods suppress different error sources: the non-geometric phase combination coefficients are mainly used to weaken geometric distance and clock error terms, and on this basis, suppress the first-order ionospheric delay; while the three-difference phase combination coefficients further eliminate common deviations such as station and satellite clock errors and orbital errors, and have a stronger ability to suppress higher-order ionospheric effects and multipath interference.

[0105] In practice, the three-frequency combination without geometric phase needs to meet the basic constraint of eliminating geometric terms, namely, the sum of the combination coefficients must be zero. Furthermore, to reduce ionospheric delay, the combination coefficients should minimize the ionospheric amplification factor. Simultaneously, to avoid excessive noise amplification, the standard deviation of the combined observation noise should be controlled within a reasonable range. Since the wavelengths of each frequency band are different, different options for the combination coefficients, while satisfying the elimination of geometric distance and clock error, can lead to significant differences in the ionospheric amplification factor and the combined noise level. Based on these principles, the embodiments of this application apply a method within the integer coefficient range of ±3 for all combinations that meet the following conditions. , , An exhaustive search was performed on the triplet, and the ionospheric delay amplification factor and noise standard deviation corresponding to each combination were statistically analyzed, as shown in Table 1.

[0106] Table 1 shows the optimal combination coefficients for geometrically non-geometric three-frequency phase cycle slip detection.

[0107]

[0108] When the magnitude of the combination coefficients is large, such as (2, 1, 1) (3, 1, 2) (3, 2, 1) (2, While coefficients such as (2, 1) can completely eliminate geometric terms, they significantly increase the ionospheric delay amplification factor, making it difficult to distinguish dynamic ionospheric changes from cycle slips; the combined noise also increases with the absolute value of the coefficients, resulting in insufficient reliability in environments with severe ionospheric disturbances or multipath propagation. Further observation reveals that when the coefficient distribution is shaped like (2, 1, ... 3) (1,2, 3) (1, At (3,2), although the ionospheric amplification factor decreases, the corresponding combined noise level is not negligible, often misinterpreting normal ionospheric disturbances as cycle slips, thus reducing the detection confidence. In contrast, (1,1, 2) and (1, 2,1) The two sets of coefficients simultaneously achieve the lowest ionospheric amplification factor and low noise, suppressing ionospheric errors while ensuring clear differentiation of cycle slip components; therefore, (1,1, 2) and (1, 2,1) are used as the combination coefficients for three-frequency geometric phase slip detection, in order to achieve higher detection reliability and accuracy in complex environments.

[0109] In practice, the three-difference phase combination coefficients eliminate station clock, satellite clock, and orbital errors, leaving only ionospheric higher-order delay, multipath, combined noise, and cycle slip components. The selection of coefficients requires a trade-off between ionospheric amplification, noise level, and combined wavelength, while removing geometric constraints: the wavelength must be long enough to capture large hops, but excessively large coefficients will amplify noise and ionospheric residuals; a balance must be struck between detection sensitivity and amplification effect.

[0110] This application embodiment satisfies the condition that the integer coefficient range is ±10. , , All triples were exhaustively calculated, and the ionospheric delay amplification factor for each scheme was statistically analyzed. Noise standard deviation The optimal wavelength combination coefficients are detailed in Table 2.

[0111] Table 2. Coefficients of Some Superior Three-Frequency Three-Difference Phase Cycle Slip Detection Combinations

[0112]

[0113] As can be seen from Table 2, the combination (2, 1, 1) and ( 1,2,1) Although it has a moderate ionospheric amplification factor and noise, its wavelength gain is limited, making it difficult to achieve large envelope jumps; 1, 1,2) Although the amplification factor and noise are low, the wavelength is too short to capture large cycle slips. 3,1,2), (3, 2, 1) ( 2, 1,3),(2, Although the combined noise of 3,1) and other types is low, the ionospheric amplification factor is high, which can easily misjudge normal disturbances as pseudo-cycle slips. 1, 5,6) and (1,4, 5) Although the wavelength is suitable, the absolute value of the coefficient is large, resulting in high noise and ionospheric amplification effects, making it unstable under general conditions. Considering the ionospheric amplification coefficient, noise, and wavelength, (1,3, 4) While ensuring a suitable wavelength for covering large jump scenarios, it has a low amplification factor and moderate noise, and is therefore selected as the combination coefficient for three-frequency three-difference cycle jump detection and repair to improve recognition ability and reduce the risk of misjudgment.

[0114] In one implementation, step (4) includes steps (4.1) to (4.2), as detailed below:

[0115] Step (4.1): Determine the variance of the observation values ​​corresponding to each carrier signal based on the phase observation values ​​corresponding to each carrier signal.

[0116] Specifically, in the embodiments of this application, the observed values ​​of different carrier signals are affected to varying degrees by noise, multipath effects, etc.; when calculating the single-frequency cycle slip value, the variance of each carrier signal needs to be considered in order to optimize the weight allocation and improve the reliability of the solution results.

[0117] In practice, through the screening and analysis of the combination coefficients in the two stages described above, this embodiment of the application constructs a multi-observation equation set consisting of two sets of geometrically phase-free combination coefficients and one set of three-difference phase combination coefficients, providing multiple redundancy and error suppression methods for subsequent cycle slip detection and repair. In a static or slowly changing ionospheric environment, the geometrically phase-free combination coefficients (1,1, 2) and (1, 2,1) It can sensitively capture small-amplitude cycle slips with the lowest ionospheric amplification factor and noise level; while under conditions of severe ionospheric disturbance or multipath influence, the three-difference phase combination coefficient (1,3, 4) It exhibits stronger suppression capabilities for higher-order ionospheric terms and multipath residues, maintaining clear separation and accurate estimation of cycle jump variables even under large jump conditions, thus ensuring the stability of high-precision baseline calculation and precise positioning. The equation is established through the above combination:

[0118] ;

[0119] ; ; ;

[0120] In the formula, This represents the wavelength matrix determined based on two sets of geometrically undifferentiated phase combination coefficients and one set of triple-difference phase combination coefficients. Represents the cycle slip difference matrix; Represents the phase observation matrix; Indicates the third frequency signal in the three-frequency signal Geometric phase observations and triple-difference phase observations of carrier signals.

[0121] To perform weighted least squares estimation, the covariance matrix of the observation equation must first be given. Since the three sets of combined observations are not equally weighted measurements, but rather have different noise amplification coefficients after linear combination, they can be... It can be approximated as a diagonal matrix; where, the diagonal matrix As shown below:

[0122] ; ;

[0123] in, Indicates the third frequency signal in the three-frequency signal The observed variance of the carrier phase observations for various carrier signals; in practice, first analyze the cycle slip difference matrix. Estimation obtained The estimated value ;in, The formula for calculating the estimated value is as follows:

[0124] ;

[0125] In practical applications, the columns of the matrix are highly correlated, especially with the absence of geometric and triple-difference combinations that are approximately collinear, resulting in a large condition number. This makes floating-point solutions exceptionally sensitive to noise. Even with minimal observation noise, the amplified floating-point estimate may deviate significantly from the true integer value. Therefore, direct rounding is unreliable, and integer constraints must be imposed, along with the use of LAMBDA (Least-squares AMBDA) algorithm to search for the optimal integer solution. With the origin, at Perform cycle slip search within the cycle range, but the correct cycle slip difference matrix The following conditions must be met:

[0126] ; ;

[0127] ; ;

[0128] In the formula, Represents the transformation matrix. ; Represents the covariance matrix; in practice, it can be... The value is set to 5. To improve efficiency, an integer Gaussian decorrelation transform is used, which satisfies the following condition after improving efficiency:

[0129] ;

[0130] In practice, Although the cycle slip difference matrix was guaranteed Difference matrix with cycle slip The estimated value Even with the smallest distance between them, it still doesn't guarantee that the correct ambiguity has been found, therefore the correct cycle slip difference matrix is ​​needed. The following conditions must also be met:

[0131] ; ;

[0132] Among them, if the cycle jump difference matrix Incorrect, then It will be much bigger and .therefore It serves as the difference matrix for discriminating cycle slips. One of the conditions for whether it is correct.

[0133] As can be seen from the above, before determining the cycle slip value used to correct the phase observations, it is necessary to first determine the observation variance of the carrier phase observations for various carrier signals. .

[0134] In practice, step (4.1) is used to quantify the observation accuracy of each carrier signal, provide a basis for subsequent weighted calculation, and reduce the impact of low-precision observations on cycle slip calculation, thereby improving the robustness of the results.

[0135] Step (4.2): Determine the single-frequency cycle jump value corresponding to each carrier signal based on the variance of the observation value and multiple sets of combination coefficients.

[0136] Specifically, in this embodiment of the application, after obtaining the observed variance of each carrier signal in step (4.1), it is necessary to combine multiple sets of combination coefficients and solve the single-frequency cycle slip value by weighted least squares method in order to make full use of the redundant information of the three-frequency signals and improve the solution accuracy.

[0137] In practice, step (4.2) is used to utilize the redundant information of multi-frequency signals to improve the calculation accuracy of single-frequency cycle slip values, and to reduce the impact of low-precision observations on the results through weighted processing, thereby enhancing the robustness of the algorithm.

[0138] Step (5): Determine the cycle slip value based on the wavelength, single-frequency cycle slip value, and multiple sets of combination coefficients corresponding to each carrier signal.

[0139] Specifically, in the embodiments of this application, step (4) has calculated the single-frequency cycle slip value of each carrier signal, but it is necessary to further integrate the results of multiple sets of combination coefficients to eliminate the systematic deviation caused by the combination method and finally determine the reliable cycle slip value.

[0140] In practice, if a satellite experiences a cycle slip at two epochs (times), the integer ambiguity abrupt change value of the corresponding frequency band in the three-frequency-three-difference combination of adjacent epochs can be estimated by the following formula, as detailed below:

[0141] ;

[0142] In the formula, Indicates the third frequency signal in the three-frequency signal The original integer ambiguity jump variables that occur during the propagation of a carrier signal. In practice, since the three-difference combination itself has eliminated geometric, clock, and static bias terms, the jump situation of the original integer ambiguity in each frequency band can be estimated by solving the formula in reverse, thereby completing the cycle slip repair.

[0143] In practice, step (5) is used to integrate the solution results of multiple sets of combined coefficients, eliminate systematic deviations, improve the reliability of cycle slip values, and provide accurate basis for subsequent cycle slip repair, so as to ensure the continuity and accuracy of satellite navigation and positioning.

[0144] Second, this application provides a cycle slip detection and correction device for satellite carrier signals, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a cycle slip detection and correction device for satellite carrier signals provided in an embodiment of this application. The device includes: a data acquisition module 400, a data processing module 500, and a cycle slip value determination module 600.

[0145] The data acquisition module 400 is used to control the satellites in the navigation satellite system to continuously transmit multiple carrier signals with different wavelengths during the cycle slip detection process of the carrier signals of the navigation satellite system, and to control the receiving station set up on the ground in the navigation satellite system to continuously receive carrier signals in order to obtain phase observation values ​​of various carrier signals.

[0146] The data processing module 500 is used to determine the multi-frequency phase observation difference and cycle slip judgment threshold based on the wavelength, phase observation value and multiple sets of combination coefficients of various carrier signals.

[0147] Among them, the combination coefficient indicates the degree of influence of the carrier signal on the cycle slip phenomenon;

[0148] The cycle slip value determination module 600 is used to determine the cycle slip value for correcting the phase observation value if the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, based on the wavelength, phase observation value and preset multiple sets of combination coefficients corresponding to each carrier signal.

[0149] In one implementation, the navigation satellite system has multiple satellites and multiple receiving stations; the multi-frequency phase observation difference includes three-frequency phase observation difference without geometric and three-frequency phase observation difference with three differences; the data processing module 500 is also used to determine the phase observation difference without geometric and the phase observation difference with three differences with three frequencies corresponding to various carrier signals based on the phase observation values ​​of the carrier signals transmitted by each satellite received by each receiving station at two adjacent signal reception times.

[0150] In one implementation, the types of combination coefficients include: geometric phase-free combination coefficients and triple-difference phase combination coefficients; the data processing module 500 is also used to determine the first cycle slip judgment threshold based on the wavelength and phase observation values ​​of various carrier signals and the preset geometric phase-free combination coefficients.

[0151] The data processing module 500 is also used to determine the second cycle slip judgment threshold based on the wavelength and phase observation values ​​of various carrier signals and the preset three-difference phase combination coefficients.

[0152] In one implementation, the cycle slip value determination module 600 is further used to determine the single-frequency cycle slip value corresponding to each carrier signal based on the phase observation value corresponding to each carrier signal and multiple sets of combination coefficients, if the three-frequency geometric phase observation difference is greater than or equal to the first cycle slip judgment threshold, and / or the three-frequency three-difference phase observation difference is greater than or equal to the second cycle slip judgment threshold.

[0153] The cycle slip value determination module 600 is also used to determine the cycle slip value based on the wavelength, single-frequency cycle slip value and multiple sets of combination coefficients corresponding to various carrier signals.

[0154] In one implementation, the cycle slip value determination module 600 is also used to determine the variance of the observation values ​​corresponding to each of the various carrier signals based on the phase observation values ​​corresponding to each of the various carrier signals.

[0155] The cycle slip value determination module 600 is also used to determine the single-frequency cycle slip value corresponding to each carrier signal based on the variance of the observation values ​​corresponding to each carrier signal and multiple sets of combination coefficients.

[0156] Third, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps S100 to S300 provided in the above embodiments.

[0157] Fourth, this application also provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to perform the steps of S100 to S300 of the above embodiments.

[0158] Fifth, the computer program product provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the steps of S100 to S300 of the method embodiments, which will not be repeated here.

[0159] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0160] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0162] It should be noted that if the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0163] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0164] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for cycle slip detection and correction of satellite carrier signals, characterized in that, The method includes: During cycle slip detection of carrier signals in a navigation satellite system, the satellites in the navigation satellite system are controlled to continuously transmit multiple carrier signals with different wavelengths, and the receiving stations set up on the ground in the navigation satellite system are controlled to continuously receive the carrier signals to obtain phase observation values ​​of various carrier signals. Based on the wavelengths of various carrier signals, the phase observation values, and multiple sets of combination coefficients, determine the multi-frequency phase observation difference and cycle slip judgment threshold; The combination coefficients indicate the degree of influence of the carrier signal on the cycle slip phenomenon. If the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, a cycle slip value for correcting the phase observation value is determined based on the wavelength corresponding to each of the various carrier signals, the phase observation value, and a preset set of combination coefficients. In the navigation satellite system, there are multiple satellites and multiple receiving stations; the multi-frequency phase observation difference includes three-frequency phase observation difference without geometric phase and three-frequency phase observation difference with three differences; the combination coefficients include: combination coefficient without geometric phase and combination coefficient with three differences. The step of determining the multi-frequency phase observation difference and cycle slip judgment threshold based on the wavelength of various carrier signals, the phase observation value, and multiple sets of combination coefficients includes: Based on the phase observation values ​​of the carrier signals transmitted by each satellite received by each receiving station at two adjacent signal reception times, the geometric-free phase observation difference and the three-frequency three-difference phase observation difference corresponding to each type of carrier signal are determined. Construct observation equations for three-frequency signals without geometric phase combination; the coefficients of the observation equations for three-frequency signals without geometric phase combination are geometric phase combination coefficients, which satisfy the first constraint condition; the first constraint condition is to satisfy the condition of eliminating geometric distance and clock error terms; determine the first cycle slip judgment threshold based on the wavelength of each carrier signal, the first noise value of the phase observation value, and the preset geometric phase combination coefficients. Construct a three-frequency three-difference phase observation equation; the coefficients of the three-frequency three-difference phase observation equation are three-difference phase combination coefficients; determine the second cycle slip judgment threshold based on the wavelength of each carrier signal, the noise value of the phase observation value, and the preset three-difference phase combination coefficients.

2. The method according to claim 1, characterized in that, If the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold, a cycle slip value for correcting the phase observation value is determined based on the wavelength corresponding to each of the various carrier signals, the phase observation value, and the multiple sets of combination coefficients, including: If the three-frequency geometric phase observation difference is greater than or equal to the first cycle slip judgment threshold, and / or the three-frequency three-difference phase observation difference is greater than or equal to the second cycle slip judgment threshold, the single-frequency cycle slip value corresponding to each of the various carrier signals is determined according to the phase observation value corresponding to each of the various carrier signals and the multiple sets of combination coefficients. The cycle slip value is determined based on the wavelength corresponding to each of the various carrier signals, the single-frequency cycle slip value, and the multiple sets of combination coefficients.

3. The method according to claim 2, characterized in that, The step of determining the single-frequency cycle slip value corresponding to each of the various carrier signals based on the phase observation values ​​corresponding to each of the various carrier signals and the multiple sets of combination coefficients includes: Based on the phase observation values ​​corresponding to each of the various carrier signals, determine the variance of the observation values ​​corresponding to each of the various carrier signals; Based on the variance of the observed values ​​corresponding to each of the various carrier signals and the multiple sets of combination coefficients, the single-frequency cycle jump value corresponding to each of the various carrier signals is determined.

4. A cycle slip detection and correction device for satellite carrier signals, characterized in that, The device includes: a data acquisition module, a data processing module, and a cycle slip value determination module; The data acquisition module is used to control the satellites in the navigation satellite system to continuously transmit multiple carrier signals with different wavelengths during the cycle slip detection process of the carrier signals of the navigation satellite system, and to control the receiving station set up on the ground in the navigation satellite system to continuously receive the carrier signals in order to obtain the phase observation values ​​of the various carrier signals. The data processing module is used to determine the multi-frequency phase observation difference and cycle slip judgment threshold based on the wavelength of various carrier signals, the phase observation value, and multiple sets of combination coefficients. The combination coefficients indicate the degree of influence of the carrier signal on the cycle slip phenomenon. The cycle slip value determination module is used to determine a cycle slip value for correcting the phase observation value based on the wavelength corresponding to each of the various carrier signals, the phase observation value, and a preset set of combination coefficients if the multi-frequency phase observation difference is greater than or equal to the cycle slip judgment threshold. In the navigation satellite system, there are multiple satellites and multiple receiving stations; the multi-frequency phase observation difference includes three-frequency phase observation difference without geometric phase and three-frequency phase observation difference with three differences; the combination coefficients include: combination coefficient without geometric phase and combination coefficient with three differences. The data processing module is specifically used to determine the geometric-free phase observation difference and the three-frequency three-difference phase observation difference corresponding to each of the carrier signals, based on the phase observation values ​​of the carrier signals transmitted by each of the satellites received by each receiving station at two adjacent signal reception times; construct an observation equation for the three-frequency geometric-free phase combination; the coefficients of the observation equation for the three-frequency geometric-free phase combination are geometric-free phase combination coefficients, which satisfy a first constraint condition; the first constraint condition is to satisfy the condition of eliminating geometric distance and clock error terms; determine a first cycle slip judgment threshold based on the wavelength of each of the carrier signals, the first noise value of the phase observation value, and the preset geometric-free phase combination coefficients; construct a three-frequency three-difference phase observation equation; the coefficients of the three-frequency three-difference phase observation equation are three-difference phase combination coefficients; and determine a second cycle slip judgment threshold based on the wavelength of each of the carrier signals, the noise value of the phase observation value, and the preset three-difference phase combination coefficients.

5. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store an application program, and the processor enabling the electronic device to implement the cycle slip detection and correction method for satellite carrier signals as described in any one of claims 1 to 3 by running or executing a software program stored in the memory.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code executed by a processor, the program code being used to implement the cycle slip detection and correction method for satellite carrier signals as described in any one of claims 1 to 3.

7. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed on an electronic device, cause the electronic device to implement the cycle slip detection and correction method for satellite carrier signals as described in any one of claims 1 to 3.

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