The invention relates to the technical field of global navigation
satellite system data processing, and discloses a GARCH-based GNSS
cycle slip detection threshold real-time determination method, which comprises the following steps: acquiring GNSS double-frequency
observation data, constructing a Morse-Wiberner and
geometric distance-free combination observation value, and carrying out differential
processing to obtain a
noise time sequence. Secondly, traversal calculation is carried out based on an
akaike information criterion, and the optimal order and the sliding window length of the GARCH model are determined; then, a current epoch condition standard deviation is predicted using the model, and a multiple factor is adjusted in combination with an environmental state to construct a dynamic
detection threshold. And finally, comparing an absolute value of the
noise sequence with a threshold value to judge a
cycle slip, and calculating an integer solution by constructing an observation equation to complete repair. According to the method, the heterovariance characteristic of the observation
noise is modeled by using the GARCH model, so that the adaptive adjustment of the
detection threshold along with the
environmental noise level is realized, the misjudgment rate in a complex environment is effectively reduced, and the detection accuracy is improved.