120 results about "Precise Point Positioning" patented technology

A Beidou / GNSS-based real-time high-precision sea surface measurement method and a buoy, wherein by using free-to-use broadcast ephemeris freely broadcast by GNSS satellites, precise point positioning of China's Beidou satellites, and other high-precision service space signals, real-time centimeter-level element information comprising time, longitude, latitude, water level, wave height, wave period, wave direction, sea surface current velocity and direction, atmospheric water vapor content, and the like can be directly obtained. The information can be stored locally in a buoy or transmitted back by communication, and is suitable for real-time high-precision sea surface measurements in offshore and far-sea scenarios.

The embodiment of the invention discloses a precision positioning acceleration method and device based on a low earth orbit satellite / LSTM neural network. The method comprises the steps that a terminal obtains a wide lane phase decimal deviation product, a narrow lane phase decimal deviation product and a first GNSS combination observation value which are generated by a server based on an LSTM method and are subjected to coding processing; determining a first GNSS wide lane real number ambiguity according to the first GNSS wide lane real number Based on a precise point positioning algorithm, determining initial GNSS ionosphere elimination combination real ambiguity and other parameters; performing inter-satellite single difference on the first GNSS wide-lane real number ambiguity, and obtaining the integer ambiguity by combining wide-lane phase decimal deviation product fixation; performing inter-satellite single difference on the initial GNSS ionosphere-free combination real ambiguity, determining a first GNSS narrow-lane real ambiguity by combining the wide-lane integer ambiguity, and fixing the first GNSS narrow-lane real ambiguity by using a narrow-lane phase decimal deviation product through a partial ambiguity fixing method to obtain the integer ambiguity of the narrow-lane phase decimal deviation product; and calculating a user coordinate fixed solution in combination with related parameters.

The invention discloses a global ionosphere modeling method and device based on Beidou single-frequency ionosphere weighted PPP, and belongs to the technical field of GNSS navigation positioning and atmosphere modeling. The method comprises the following steps: acquiring real-time precise orbit and clock error information of a Beidou satellite and an initial ionospheric delay correction value; a single-frequency ionosphere weighted precision single point positioning (SF-IW-PPP) observation equation is constructed; establishing a space-time correlation constraint model of the ionized layer delay error and determining a prior variance; carrying out combined calculation by taking the previous variance as a constraint to obtain an ionosphere delay residual error, and further obtaining the total delay of the high-precision inclined ionosphere; and finally generating a global ionosphere grid model. According to the invention, high-precision and real-time global ionosphere modeling is realized by only needing a low-cost single-frequency receiver and combining Beidou real-time enhancement service, the hardware threshold and data processing delay are remarkably reduced, and the method is suitable for the fields of public navigation, intelligent transportation, space weather monitoring and the like.

The invention discloses a Galileo HAS service receiving and positioning performance evaluation method and device, and belongs to the technical field of satellite positioning and navigation. The method comprises the steps that Galileo E6B frequency band signals are captured through USRP equipment, after radio frequency and direct current signals are separated through a bias device, self-adaptive layering processing is carried out through GNSS-SDR software, and the self-adaptive layering processing comprises dynamic sampling and interference suppression of a radio frequency adaptation layer, double-domain cooperative synchronization and self-adaptive decoding of a baseband intelligent processing layer and self-adaptive decoding of a baseband intelligent processing layer. And carrying out multi-dimensional feature mapping and robust verification on the HAS correction number extraction layer, and finally outputting a standardized HAS correction number. And in combination with a real-time precise single-point positioning technology, centimeter-level dynamic positioning is realized, and the positioning performance is evaluated through comparison with reference station data. According to the method, the robustness and precision of signal receiving and processing are improved, and the method is suitable for high-precision positioning requirements in a complex environment.

The invention provides a railway user terminal adaptive positioning method and system, and relates to the technical field of wireless communication networks, and the method comprises the steps: determining that a target railway user terminal currently accesses a railway Beidou application service platform through terminal account login; if yes, a real-time positioning service based on a target positioning mode corresponding to the positioning precision requirement type is provided for the terminal according to the positioning precision requirement type of the terminal so as to send real-time positioning data to the terminal, and the target positioning mode comprises a precision single-point positioning and real-time dynamic positioning mode or a real-time dynamic differential positioning mode; and providing a corresponding real-time reference conversion service for the terminal according to the reference conversion demand type of the terminal so as to send real-time reference conversion data to the terminal, so that the terminal corrects the real-time positioning data according to the real-time reference conversion data. According to the invention, a high-precision self-adaptive elastic positioning service can be provided for the railway user terminal, so that the positioning precision, the dynamic adaptability, the reliability and the effectiveness of the railway user terminal can be effectively improved.

The invention provides a troposphere delay correction method and system, electronic equipment and a storage medium, and the method comprises the steps: extracting troposphere delay of a reference station through a non-difference combination observation value method according to the obtained real-time reference station observation data, broadcast ephemeris, ultra-fast orbit and clock correction, carrying out the adjustment of observation values of a plurality of satellites, and carrying out the adjustment of the observation values of a plurality of satellites; the zenith troposphere delay of the base station is obtained; the zenith troposphere level of the base station after normalization processing is interpolated to the position of the moving station through an inverse distance weighted interpolation method, zenith troposphere delay of the moving station is obtained according to a pre-constructed elevation normalization model, and the elevation normalization model is constructed based on ERA5 horizontal atmospheric layer meteorological data. According to the method, the adaptability of the model to complex terrains can be improved, so that the model precision is improved, the precision single-point positioning convergence time of the moving station is effectively shortened, and the precision single-point positioning precision is improved.

The invention relates to an unmanned aerial vehicle high-precision positioning method based on micro-centimeter space low-orbit constellation and Beidou PPP-B2b fusion enhancement, and the method comprises the steps: obtaining a precise orbit correction number and a precise clock correction number of a GPS and a BDS system based on a Beidou PPP-B2b signal; calculating a precise orbit and a precise clock error of the GNSS satellite based on the precise orbit correction and the precise clock error correction; on the basis of the precise orbit and the precise clock error of the GNSS satellite, an observation value of a micro-centispace low-orbit satellite is fused, and a GNSS / LEO combined PPP observation model is constructed; and based on extended Kalman filtering, precise point positioning calculation is carried out on the GNSS / LEO combined PPP observation model, and the real-time high-precision position of the unmanned aerial vehicle is obtained. According to the invention, the real-time high-precision position of the unmanned aerial vehicle can be rapidly and stably obtained, and a reliable position reference is provided for autonomous operation of the unmanned aerial vehicle in a network-free environment.

The invention provides a railway user location service method and system based on satellite-ground collaboration, and relates to the technical field of wireless communication networks, and the method comprises the steps: constructing a coordinate reference unified frame and a seamless positioning model for a satellite-ground collaboration system, a positioning service is provided for a server side of precise single-point positioning and real-time dynamic positioning services and a railway user side, and Beidou satellite-based precise single-point positioning service precision, space abnormal signals, orbit integrity and environmental noise corresponding to a satellite-ground cooperative system are monitored; and broadcasting the positioning fusion service data to the railway user side in real time based on the satellite-ground cooperative system, so that the railway user side optimizes self positioning data based on the positioning fusion service data. According to the invention, high-precision position service can be provided for railway users in a railway complex environment, and the railway scene positioning precision, real-time performance and reliability can be improved, so that wider railway application requirements are met.

Described herein are solutions for real-time precise ionosphere corrections. An integrate and dump (I&D) server can receive a Networked Transport of Radio Technical Commission For Maritime Services (RTCM) via Internet Protocol (NTRIP) bit stream of a spherical harmonic model for precise point positioning (PPP). The model can be a vertical total electron content (VTEC) spherical harmonic expansion model and / or can include a set of ionosphere coefficients for correcting errors in satellite signals due to ionospheric conditions. The I&D server can generate a file of ionosphere coefficients, according to a refresh timer, and can send the file to a content delivery network (CDN) for distribution to user equipment (UEs) upon request. These and many other features and examples are described herein.

The invention belongs to the technical field of positioning and navigation, and discloses a precise single-point positioning method and device based on a single Beidou, and the method comprises the steps: building a three-frequency non-difference and non-combination precise single-point positioning observation model based on a Beidou satellite system, estimating the delay of an ionized layer through a non-difference and non-combination method, and extracting the electron content in a line-of-sight direction; carrying out iterative solution on the electron content in the sight line direction by using a multiplication algebraic reconstruction algorithm to obtain the electron density of the ionized layer; taking ionosphere electron density as prior information, and adding ionosphere constraint estimation to obtain a state vector of a receiver; and calculating a signal quality evaluation coefficient of the Beidou satellite system, and according to the signal quality evaluation coefficient, updating the state vector of the receiver by using a hybrid filter to obtain a final positioning position. According to the invention, high-precision regional ionosphere delay modeling and Beidou three-frequency non-difference and non-combination precision single-point positioning under ionosphere constraint are realized, and the positioning precision and robustness of a single Beidou precision single-point positioning system are effectively improved.

The invention relates to a Beidou No.3 precise point positioning method based on double-frequency combination and analysis center product optimization, and belongs to the technical field of precise point positioning, and the method comprises the following steps: S1, constructing three ionosphere-free combinations B1C-B2a, B1C-B3I and B1I-B3I by using four frequency point signals B1C, B2a, B1I and B3I; s2, through comparing a root mean square value RMS of the positioning deviation, the final positioning precision and the convergence time, respectively comparing and evaluating precision point positioning PPP performance of BDS-3 in different frequency combinations under precision products issued by a plurality of analysis centers; and S3, finding out the ionosphere-free combination and analysis center product with the optimal PPP calculation performance.

The invention discloses a joint correction method and system for GNSS (Global Navigation Satellite System) non-structural deformation and a storage medium. According to the method, GNSS pseudo-range and carrier phase observation data and precise products such as a precise orbit and clock correction are obtained, a three-component displacement time sequence caused by a non-tidal atmospheric load, a non-tidal ocean load and a land hydrological load and a temperature-driven thermoelastic displacement time sequence are constructed, and the three-component displacement time sequence and the temperature-driven thermoelastic displacement time sequence are unified to a reference frame and a time system consistent with GNSS calculation. After interpolating the non-structural displacement vector to an observation epoch according to time, converting the non-structural displacement vector to a geocentric rectangular coordinate system from a site local coordinate system ENU, and projecting the non-structural displacement vector to a sight line direction from a satellite to an observation station reference point to form an equivalent geometric distance correction item; the correction terms are respectively applied to pseudo-range observation and carrier phase equivalent meter domain observation in the form of the same domain as observation, and then GNSS daily arc precise calculation is performed to output a coordinate time sequence, and preferably, the method can be used for a precise single-point positioning integer ambiguity fixing technology.

The invention provides a troposphere anisotropy-considered real-time PPP positioning method, and relates to the technical field of satellite navigation and positioning, and the method comprises the following steps: S01, receiving real-time GNSS observation data, broadcast ephemeris data and precision correction data, carrying out detection and restoration of clock slip and cycle slip, data quality control and preprocessing of antenna phase correlation errors on the data to obtain a preprocessed data set; s02, calculating the solar altitude after atmospheric refraction correction according to each preprocessed data set and the geographic position and observation time of the observation station corresponding to each data set; and S03, based on the solar altitude and the satellite altitude. According to the method, solar altitude parameters are introduced, the troposphere anisotropy effect caused by solar radiation is effectively modeled, and the precision and convergence speed of real-time precise single-point positioning are remarkably improved.

A mobile device positioning method, a mobile device, and a storage medium. The positioning method comprises: when a positioning system is powered on and started, determining first position information by means of a self-differential positioning mode, and performing calculation by means of a precise point positioning mode to obtain second position information. Because the calculation speed of the self-differential positioning mode is relatively fast, when the precise point positioning mode has not yet successfully completed the calculation, the first position information calculated by means of the self-differential positioning mode is used as target position information of a mobile device, thereby ensuring the positioning efficiency of the mobile device; and when the precise point positioning method successfully completes the calculation, position processing is performed on the basis of the second position information, thereby achieving high-precision positioning and high-precision operations in a no-network or weak network environment.

The invention discloses an unmanned aerial vehicle cluster autonomous decision-making method and system fusing Beidou enhancement service and multi-source perception, and the method comprises the steps: enabling each unmanned aerial vehicle to receive a satellite-based enhancement signal, carrying out the real-time calculation of the satellite-based enhancement signal through employing a precise single-point positioning technology, and obtaining precise PVT information; each unmanned aerial vehicle synchronously collects sensor information, carries out space-time alignment on the sensor information and the precise PVT information, and processes local sensing features and wide-area geographic information by using an information fusion model to generate a global environment situation tensor; inputting the global environment situation tensor into a deep reinforcement learning strategy network to obtain a task instruction set; carrying out consensus confirmation on key instructions in the task instruction set by utilizing a Beidou global short message to obtain a task instruction after consensus; and each unmanned aerial vehicle performs collaborative operation based on the task instruction after consensus, performs real-time fusion on new perception data generated in the execution process and precise PVT information, and inputs the fused data into the information fusion model again to complete an autonomous decision closed loop.

An example method for updating global navigation satellite system (GNSS) error correction data for global navigation satellite system (GNSS)-based positioning. The method performed by a server may include obtaining a plurality of GNSS measurements crowdsourced from one or more GNSS devices across a plurality of measurement periods; determining a GNSS measurement residual using the plurality of GNSS measurements and existing GNSS error correction data; and transmitting updated GNSS error correction data for GNSS-based positioning, wherein the updated GNSS error correction data is determined using the determined GNSS measurement residual and the existing GNSS error correction data.

The invention belongs to the technical field of GNSS precise point positioning cycle slip detection, and discloses a DI-based adaptive GF cycle slip detection threshold model method, and the method comprises the steps: obtaining IGS tracking station data during an extra-large magnetic storm; preprocessing the data, and calculating an inter-epoch difference GF value and a DI value; obtaining 99.7 percentile in each interval section according to a 3 sigma criterion by using distribution of a time domain difference GF value and a DI value; performing quadratic polynomial fitting on the percentile to obtain a final threshold model; the GF adaptive threshold model based on the DI avoids the limitation that the ROTI is influenced by cycle slip, and effectively solves the problem of false detection.

Methods and apparatus are provided for propagating a time-tag signal (T2) from at least one server site to at least one client site. The method comprises: at each server site, running a server global navigation satellite system GNSS process (202(i)) configured to generate a server GNSS output raw data signal (R7(T2); R7(T2(i))) based on at least one or more first satellite signals; generating a precise orbit and clock signal (C8(T2); C10(T2); T4(T PPP -T2); T9(T PPP -T2)) embedding said time-tag signal (T2) based on all server GNSS output signals (T2(i); T7(T2(i))), and broadcasting said precise orbit and clock signal (C8(T2); C10(T2); T4(T PPP -T2); T9(T PPP -T2)) via a telecommunications network (206); at each client site, running a client global navigation satellite system GNSS process (201(c)) configured to generate a client GNSS output raw data signal (R5(T1(c))) based on a client clock signal (T1(c)) and based on one or more second satellite signals; running a client precise point positioning PPP process (203(c)) configured to receive said client GNSS output raw data signal (R5(T1(c))) and said precise orbit and clock signal (C8(T2); C10(T2); T4(T PPP -T2); T9(T PPP -T2)), and generate a difference signal (T1(c)-T2) between said client clock signal (T1(c)) and the time-tag signal (T2).

This invention discloses a real-time dynamic relative positioning method, system, and device based on state domain correction information. The method involves: a server receiving real-time GNSS observation data streams from the entire network of reference stations and real-time precise orbit clock correction streams to perform real-time precise single-point positioning calculations, and broadcasting network-wide floating-point ambiguity information; then performing real-time phase deviation estimation and broadcasting it; further, combining the network-wide reference station observation data streams and real-time precise orbit clock errors to perform real-time precise single-point positioning fixed-solution calculations, and broadcasting network-wide atmospheric delay information; performing atmospheric modeling and broadcasting the model information; and a user terminal receiving the precise orbit clock correction information, phase deviation information, and model information broadcast by the server in real-time, generating virtual observation values ​​at its approximate coordinates, and performing real-time dynamic relative positioning calculations. This invention can significantly reduce the algorithm complexity of current precise positioning servers and is compatible with existing relative positioning user terminals while ensuring one-way communication and privacy protection.

The application discloses a kind of customized weighting ionospheric modeling methods applied to PPP-RTK, comprising: extracting high-precision undifferenced slant ionospheric delay based on dual-frequency / multi-frequency non-combination precise point positioning model;Select reference satellite as benchmark, eliminate receiver end related hardware bias through inter-satellite single difference, map undifferenced slant ionospheric delay into inter-satellite single difference slant ionospheric delay;Corresponding to each satellite pair, construct surface fitting function model;Considering the difference of different user space distribution, construct independent weight matrix for each user, solve model coefficient based on weighted least squares.This application introduces user position related weight factor on the basis of conventional equal weight modeling, constructs different weight matrix for different users, realizes customized modeling for different users, also improves the self-consistency of model in modeling site, and objectively describes the spatial variation of ionosphere.

The invention discloses a multi-form code deviation unified estimation and correction method, which constructs a compatible and unified function model, can realize unified estimation of any type of code deviation in OSB, DCB and IFCB, and a server can broadcast an internal self-consistent code deviation product based on the method. The user side can adopt different types of code deviation products, converts a satellite clock deviation correction value provided by a satellite clock deviation product into a satellite clock deviation correction value of a target frequency combination, and applies the converted correction value to an ionosphere-free combination of an observation value to execute a precise point positioning process; according to the method, internal self-consistency of multi-form code deviation estimation can be realized, code deviation products in various forms can be uniformly and conveniently used for a terminal user positioning correction process, and the adaptability and practicability of precise point positioning are effectively improved.

The invention discloses a precise point positioning time transfer method integrated with a Beidou common-view technology, which comprises the following steps of: simultaneously observing a Beidou satellite by an observation station A and an observation station B, and respectively calculating clock differences of receiver clocks of the observation stations relative to a Beidou satellite navigation system; in each epoch, screening out all satellites observed by the two observation stations together, and calculating the difference between receiver clock differences of the two observation stations when the same satellite is observed in a common-view manner; and selecting one common-view satellite in different time periods to obtain a clock difference between two places of the common-view satellite. According to the method, a common-view technology and a precise single-point positioning time transfer technology are fused, a PPP double-frequency ionosphere eliminating model is adopted, a precise ephemeris product and a precise clock correction product are utilized, the clock correction of a receiver clock relative to a Beidou satellite navigation system is calculated, and then the common-view technology is utilized to subtract the clock correction of the receivers in the two places, so that the precision single-point positioning time transfer technology is obtained. Errors such as troposphere delay, satellite orbits and satellite clock correction are eliminated, and the two-ground clock correction with higher precision and stability is obtained.

The present application belongs to the global navigation positioning technology field, disclose a kind of phase deviation generation and application method for multi-frequency PPP-AR.For the problems of insufficient real-time stability, higher system implementation complexity and avoiding the influence of inter-frequency clock bias deviation by weakening the model strength in the process of inter-frequency clock bias deviation processing in existing multi-frequency precise point positioning ambiguity fixing technology, in the phase deviation generation stage of the server, the time-varying IFCB component in the third frequency is absorbed into the corresponding floating ambiguity state by parameterization, and on this basis, the multi-frequency uncalibrated phase delay parameter is estimated, which is further converted into the phase OSB product corresponding to each frequency for direct use by the user side. The method of the present application realizes the stable fixing of multi-frequency ambiguity and high-precision positioning without introducing additional independent IFCB product and without weakening the overall constraint ability of the user-side PPP-AR model.

The application discloses a joint correction method and system of GNSS non-tectonic deformation and a storage medium. The method obtains GNSS pseudo-range and carrier phase observation data and precise orbit, clock error and other precise products, constructs three-component displacement time series caused by non-tidal atmospheric load, non-tidal ocean load and land hydrology load and temperature-driven thermal elastic displacement time series, and unifies to a reference frame and a time system consistent with GNSS solution. The non-tectonic displacement vector is interpolated to the observation epoch by time, converted from the local coordinate system ENU to the geocentric rectangular coordinate system, and projected to the line-of-sight direction of the satellite to the reference point of the station to form an equivalent geometric distance correction term; the correction term is applied to the pseudo-range observation and the carrier phase equivalent meter domain observation in the same domain as the observation, and then GNSS daily arc segment precise solution is performed to output the coordinate time sequence, which is preferably used for precise point positioning integer ambiguity fixing technology.

The invention relates to a fast convergence satellite clock error resolving method under regional station distribution, which belongs to the field of satellite navigation, and comprises the following steps: in a regional monitoring network, constructing a normal equation by using an ionosphere-free combination pseudo range and a carrier phase by using a known precise orbit and a station coordinate; in the Kalman filtering stage, covariance forecasting is carried out on satellite clock correction, receiver clock correction and troposphere delay, cycle slip detection and covariance forecasting are carried out on ambiguity, when the ambiguity has no cycle slip and converges, the forecasting covariance is reset to be a minimum value so as to apply reinforced constraint, and the reinitialization time is remarkably compressed; performing parameter estimation to obtain an optimal value and a pseudo-range post-test residual error; the satellite clock error constant deviation is calculated through multi-station multi-epoch residual errors in a combined mode, and the satellite clock error constant deviation is fused into the original code deviation to form extended code deviation parameter broadcasting; the user side only needs to add the extension correction in the pseudo-range observation value to realize instantaneous centimeter-level positioning. According to the invention, high-precision and high-availability real-time precise single-point positioning service under the regional network condition is realized.

The invention belongs to the technical field of unmanned aerial vehicle navigation and path planning, and discloses an unmanned aerial vehicle intelligent path planning method and system based on a KOA algorithm and a Beidou system, and the method comprises the steps: achieving the centimeter-level precise single-point positioning of an unmanned aerial vehicle through a Beidou PPP-B2b technology; constructing a three-dimensional environment and constraint model; a KOA algorithm is utilized to encode path points into planet individuals, multi-objective optimization planning is carried out by simulating planet motion under universal gravitation, and global exploration and local development are effectively balanced; smoothing and dynamically re-planning the path; and finally, carrying out precise tracking control by combining high-precision positioning feedback. The system correspondingly comprises a positioning module, a sensing module, a planning module, a control module and the like. According to the method, high-precision navigation and an intelligent algorithm are deeply fused, and the path optimality, safety and autonomy of the unmanned aerial vehicle in a complex environment are remarkably improved.

The application discloses a kind of receiving galileo HAS service and positioning performance evaluation method and device, belong to satellite positioning and navigation technical field.The method includes: through USRP device, galileo E6B frequency band signal is captured, after being separated by biasing device radio frequency and direct current signal, by GNSS-SDR software, adaptive hierarchical processing is carried out, including the dynamic sampling and interference suppression of radio frequency adaptation layer, the double-domain cooperative synchronization and adaptive decoding of baseband intelligent processing layer, and the multidimensional feature mapping and robustness check of HAS correction number extraction layer, finally output standardization HAS correction number.Combining real-time precise point positioning technology, realize centimeter level dynamic positioning, and positioning performance is evaluated by comparing with reference station data.The application improves the robustness and precision of signal reception and processing, and is suitable for high-precision positioning demand under complex environment.

The application discloses a BDS-2 / 3 precise point positioning tight combination ambiguity resolution method, which comprises the following steps: S1: fixing station coordinates, using international GNSS service (IGS) analysis center satellite orbit and clock error products, performing (MW) combination calculation and ionosphere-free (IF) floating point PPP resolution, and outputting station channel floating point wide lane ambiguity and pseudo-range OMC residual error; and S2: selecting a reference station and a BDS-3 reference star, and using the result of step S1 to calculate wide lane phase correction deviation and ionosphere-free combination signal distortion deviation correction number. The BDS-2 / 3 precise point positioning tight combination ambiguity resolution method has better model strength. Compared with a PPP-AR loose combination mode, the application adopts a tight combination mode, has better model strength, can fully play the advantages of BDS-2 and BDS-3 fusion processing, can eliminate the phase deviation between wide lane systems and the pseudo-range system deviation and the signal distortion deviation between channels of BDS-2 and BDS-3, and significantly improves the precise positioning performance of the Beidou system.

This invention discloses a satellite navigation enhancement method and system based on inertial navigation data. To address the problems of slow convergence, frequent cycle slips, easy loss of fixed solutions, and discontinuous or abrupt navigation outputs in real-time dynamic differential positioning and precise single-point positioning under highly dynamic and complex obstruction environments, this invention aligns the inertial measurement unit data with carrier phase and Doppler observation data in time, constructs a continuous-time state trajectory, establishes a Gaussian process prior, and performs tight-coupled joint estimation of trajectory state and carrier phase integer ambiguity within a sliding time window. Based on the carrier phase residual, it performs change point detection to determine cycle slips, triggers ambiguity reset, and performs re-initialization constraints based on inertial prediction state and uncertainty to complete the update estimation. This achieves the technical effects of robust cycle slip detection and rapid recovery, improved fixed solution preservation capability and switching smoothness, and enhanced continuity and stability of navigation solutions.