GNSS single frequency data cycle slip detection and repair method based on ambiguity total differential

Abstract

The invention discloses a GNSS single frequency data cycle slip detection and repair method based on ambiguity total differential. The method comprises steps that an ambiguity function is constructedbased on a GNSS inter-station single difference observation equation; based on GNSS inter-station single-difference carrier phase observation values of two adjacent epochs, the total differential of the ambiguity function is solved in the time domain, and the total differential function is the cycle slip quantity function corresponding to the epoch k; based on the cycle slip quantity function, thecycle slip detection least squares system is constructed, and cycle slip is detected based on standard deviation change of the least squares system; when the cycle slip is detected, the GNSS inter-station single-difference carrier phase observation values of all the common-view satellites and theoretical values are utilized to repair cycle slip. The method is advantaged in that a problem of difficulty in reliably processing complex carrier motion rules and relatively small cycle slip values existing in a single frequency GNSS cycle slip detection and repair method in the prior art is solved,properties of rigorous theory, simple model, easy realization, strong expansibility and high precision are realized, and the method can be widely applied to GNSS large-scale markets.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation, in particular to a cycle-slip detection and repair method for GNSS single-frequency data based on ambiguity full differential. Background technique [0002] In recent years, due to its low hardware cost, single-frequency GNSS positioning technology has been widely used in unmanned aerial systems, location-based services, intelligent networked vehicles and other fields. Theoretically, in the application of short and medium baselines (that is, the baseline length is not greater than 20 kilometers), when the ambiguity is fixed, only single-frequency GNSS data can be used to obtain high-precision baseline solution results. [0003] Cycle slip is one of the important factors affecting the performance of GNSS positioning. It is the whole cycle jump of the carrier phase observation when the GNSS satellite signal is blocked by surrounding buildings or interfered by the active ionosphere. If...

AI Technical Summary

Problems solved by technology

These methods can achieve a certain effect when the motion law of the carrier is simple and the value of cycle slip is large, but the effect is poor when the law of motion of the carrier is complex and the value of cycle slip is small (such as 1 cycle or 0.5 cycle).

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