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GNSS multimode single-frequency RTK cycle slip detection method and apparatus

A cycle-slip detection and single-frequency technology, which is used in measurement devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve the problems of cycle-slip detection accuracy and filter prediction accuracy.

Active Publication Date: 2016-11-30
GUANGZHOU HI TARGET NAVIGATION TECH
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Problems solved by technology

[0012] The detection accuracy of the filtering method mainly depends on the accuracy of its predicted observation value, and the prediction accuracy of the filter depends on whether its dynamic model is consistent with the real motion state of the carrier. When the carrier maneuver is relatively strong, if there is no external state input Information (such as inertial navigation information), the prediction accuracy of the filter will decrease, and the accuracy of cycle slip detection will decrease

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  • GNSS multimode single-frequency RTK cycle slip detection method and apparatus
  • GNSS multimode single-frequency RTK cycle slip detection method and apparatus
  • GNSS multimode single-frequency RTK cycle slip detection method and apparatus

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[0051] Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further:

[0052] Before describing this embodiment, it is necessary to introduce the formula derivation of the residual vector of any satellite:

[0053] The inter-station epoch quadratic difference equation is established, and the linearized carrier phase inter-station single-difference observation equation can be expressed as follows:

[0054]

[0055] In the formula: Δ represents the inter-station single-difference operator; the subscript t represents the epoch, and the superscript p represents the satellite; Indicates the carrier phase observation value, λ is the carrier wavelength; ρ is the station-to-satellite distance calculated by the approximate value of the rover coordinates; δion, δtrop in turn represent the ionosphere, troposphere delay; cδt represents the clock error, N is the ambiguity parameter; ε represents the carrier Phase measurement noise...

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Abstract

The invention provides a GNSS multimode single-frequency RTK cycle slip detection method and apparatus. The method comprises the following steps: communicating with a GPS satellite, a GLONASS satellite, a Galileo satellite and a Beidou satellite and obtaining corresponding data; according to a formula, carrying out calculation so as to obtain a residual error vector of a station epoch secondary difference carrier wave observation value of each satellite; according to the residual error vector, calculating an RMS value, and if the RMS value is greater than or equal to a threshold EPS, determining that a satellite generates a cycle slip; according to a formula (2), calculating a standard residual error V<->; comparing |error V<->| with u<alpha / 2>, and carrying out corresponding operation; and fusing the determined cycle slip with a cycle slip detected by use of a Doppler integration method. The invention brings forward a novel method for detecting a cycle slip by combining a multimode station epoch secondary difference method and a Doppler integration method. The multimode station epoch secondary difference method detecting the cycle slip based on a residual error domain only sets one station epoch relative clock error parameter, such that even if a single system has only one satellite, effective utilization and cycle slip detection can still be realized.

Description

technical field [0001] The invention relates to the field of GNSS reception positioning, in particular to a GNSS multi-mode single-frequency RTK cycle slip detection method and device. Background technique [0002] The full name of GNSS is Global Navigation Satellite System, which is the general name of global satellite navigation systems, including the GPS global satellite navigation system of the United States, the GLONASS global satellite navigation system of Russia, the BDS Beidou global satellite navigation system of China (under construction) and the Galileo global satellite of Europe Navigation system (under construction). With the rapid development of GNSS and the rapid increase in the number of satellites available, multi-GNSS system combination positioning has become the first choice for current and future GNSS positioning, and its accuracy and reliability have been improved compared with single systems. In order to realize GNSS carrier phase high-precision positi...

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Application Information

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IPC IPC(8): G01S19/33
CPCG01S19/33
Inventor 陈源军潘国富李成钢
Owner GUANGZHOU HI TARGET NAVIGATION TECH
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